Photovoltaic glass deep processing grabbing and stacking system

Abstract

The present invention relates to a photovoltaic glass deep processing grabbing and stacking system, including a transmission roller, a grabbing roller, a side push device, a side wheel device, a flipping device, a manipulator and a stacking station, wherein the grabbing roller is placed behind the transmission roller; the side push device is arranged above the transmission roller, and at the front end of the grabbing roller close to the glass transmission entrance; the side wheel device is arranged at the rear end of the grabbing roller, and close to the glass transmission exit; the flipping device is on the side of the grabbing roller; the manipulator is on the side of the grabbing roller and opposite to the flipping device; the stacking station is placed on both sides of the rear of the manipulator. The photovoltaic glass deep processing grabbing and stacking system of the present invention provides a good solution to the photovoltaic deep processing glass unloading method. On the basis of conventionally grabbing the lower surface of the glass, it can also grab the upper surface of the glass, while ensuring the stacking accuracy and glass quality, and realizing the intelligence and modularization of the industry.

Description

Technical Field

[0001] The present invention relates to the field of photovoltaics, in particular to the field of photovoltaic glass deep processing, and specifically refers to a photovoltaic glass deep processing grabbing and stacking system. Background Art

[0002] As one of the raw materials for producing photovoltaic modules, the output of photovoltaic glass has increased year by year with the development of the new energy industry. At present, photovoltaic glass deep processing is divided into manual unloading and automated equipment unloading. Among them, manual unloading is inefficient and few factories use it at present; while automated equipment unloading has relatively low cost at present, which effectively reduces the labor cost of enterprises and is welcomed by the majority of photovoltaic glass enterprises; among various automated equipment, the use of industrial robots for unloading has been gradually promoted in major photovoltaic glass deep processing enterprises due to its high degree of customization, long service life, fast cycle, and ability to adapt to multi-station situations. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art and provide a photovoltaic glass deep processing grasping and stacking system which is intelligent, modular and has a wide range of applications.

[0004] In order to achieve the above-mentioned purpose, the photovoltaic glass deep processing grabbing and stacking system of the present invention is as follows:

[0005] The photovoltaic glass deep processing grabbing and stacking system has the following main features: the system includes a transmission roller, a grabbing roller, a side pusher, an edge wheel device, a flipping device, a manipulator and a stacking station; the grabbing roller is placed behind the transmission roller to stop the glass for subsequent actions; the side pusher is arranged above the transmission roller and at the front end of the grabbing roller close to the glass transmission entrance to push the glass sideways to position the glass; the edge wheel device is arranged at the rear end of the grabbing roller and close to the glass transmission exit to complete the positioning of the glass; the flipping device is on the side of the grabbing roller to tilt the glass to make it slide down; the manipulator is on the side of the grabbing roller and opposite to the flipping device to carry the glass to realize the grabbing and stacking of the glass; the stacking station is placed on both sides of the rear of the manipulator.

[0006] Preferably, the transmission roller comprises a first roller frame, a first transmission assembly, a plurality of first full rubber rollers and a first cover shell; the first roller frame comprises a plurality of first full rubber rollers placed in parallel; a first transmission assembly is installed on the side of the first roller frame to drive the first full rubber rollers to rotate; the first cover shell is arranged on the side of the first roller frame and outside the first transmission assembly.

[0007] Preferably, the first transmission assembly includes a first reduction motor, a first sprocket, a first transmission shaft and a plurality of circular pulleys, the first reduction motor is arranged below the first roller frame, the first sprocket is connected to the first reduction motor, the first transmission shaft is placed on the side of the first roller frame and is connected to a plurality of circular pulleys; the circular pulleys correspond to the first full rubber rollers one by one, and each circular pulley is connected between the corresponding first full rubber roller and the first transmission shaft; the first reduction motor drives the first transmission shaft to rotate through the first sprocket, and the first transmission shaft drives the first full rubber roller to rotate through the circular pulley.

[0008] Preferably, the grabbing roller comprises a second roller frame, a second transmission assembly, a plurality of second full rubber rollers and a second cover shell; the second roller frame comprises a plurality of second full rubber rollers placed in parallel; a second transmission assembly is installed on the side of the second roller frame to drive the second full rubber rollers to rotate; the second cover shell is arranged on the side of the second roller frame and outside the second transmission assembly.

[0009] Preferably, the second transmission assembly includes a second reduction motor, a second sprocket, a second transmission shaft and a plurality of bevel gears, the second reduction motor is mounted on the second roller frame, the second sprocket is connected to the second reduction motor, the second transmission shaft is placed on the side of the second roller frame, and is connected to a plurality of bevel gears; the bevel gears correspond one-to-one to the second full-rubber rollers, and each bevel gear is connected between the corresponding second full-rubber roller and the second transmission shaft; the second reduction motor drives the second transmission shaft to rotate via the second sprocket, and the second transmission shaft drives the second full-rubber roller to rotate via the bevel gears, and the bevel gears are used to ensure that the glass stops accurately on the grabbing roller.

[0010] Preferably, the side thrust device includes a frame, a stepper motor, a synchronous pulley, a screw nut pair, a connecting plate, a linear slide rail, a linear slider and a side thrust plate. The stepper motor is installed on the top of the frame. The stepper motor drives the screw nut pair to move through the synchronous pulley. The nut of the screw nut pair is fixedly connected to the linear slide rail through the connecting plate. The screw nut pair drives the linear slide rail to move forward and backward. Two fixed linear sliders are placed on the linear slide rail. The side thrust plate is placed at the front end of the linear slide rail to push the glass and position the glass.

[0011] Preferably, the edge wheel device comprises a positioning frame, a positioning mounting plate and a first positioning wheel, the positioning mounting plate is fixed on the positioning frame, the positioning mounting plate is provided with a plurality of positioning holes, and the first positioning wheel is installed and fixed in the positioning holes.

[0012] Preferably, the mounting surface of the positioning hole forms a certain angle with the horizontal plane, and the angle is adjustable.

[0013] Preferably, the first positioning wheel is externally wrapped with nitrile rubber.

[0014] Preferably, the flipping device includes a base, a servo drive motor, a rotating shaft, a clamping sleeve, a turning table and a limit device. The servo drive motor is placed on the base. The rotating shaft is connected to the servo drive motor. The rotating shaft passes through the turning table horizontally. The turning table is connected to the rotating shaft through the clamping sleeve. The limit device is fixed on the rotating shaft to ensure the safe operation of the system. The flipping device realizes angle flipping through the servo drive motor.

[0015] Preferably, the turning table comprises a transmission plate, a turning table frame, seamless universal wheels and side wheels, the transmission plate frame is connected to the rotating shaft through a tightening sleeve, the turning table frame is provided with seamless universal wheels and side wheels, and the transmission plate is connected to the turning table frame.

[0016] Preferably, the manipulator comprises a cylinder, a second positioning wheel and a suction cup assembly, wherein the second positioning wheel is mounted on the end of the extending rod of the cylinder, and the suction cup assembly is mounted on the cylinder.

[0017] Preferably, the turning angle of the turning device is 0° to 120°.

[0018] The photovoltaic glass deep-processing grasping and stacking system of the present invention is adopted to realize arbitrary switching between upper grasping and lower grasping of photovoltaic deep-processed glass, while ensuring that the glass surface is free of marks and marks, meeting the manufacturers' quality requirements for glass, improving production efficiency, and providing a good solution for the photovoltaic deep-processing glass unloading method. On the basis of conventional grasping of the lower surface of the glass, it can also grasp the upper surface of the glass, while ensuring stacking accuracy and glass quality, thus realizing the intelligence and modularization of the industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the photovoltaic glass deep processing grabbing and stacking system of the present invention.

[0020] Figure 2 It is a schematic diagram of the transmission roller of the photovoltaic glass deep processing grabbing and stacking system of the present invention.

[0021] Figure 3 It is a schematic diagram of the grabbing roller of the photovoltaic glass deep processing grabbing and stacking system of the present invention.

[0022] Figure 4 It is a schematic diagram of the side push device of the photovoltaic glass deep processing grabbing and stacking system of the present invention.

[0023] Figure 5 It is a schematic diagram of the side wheel device of the photovoltaic glass deep processing grabbing and stacking system of the present invention.

[0024] Figure 6 It is a schematic diagram of the turning device of the photovoltaic glass deep processing grabbing and stacking system of the present invention.

[0025] Figure 7 Schematic diagram of the robot arm of the photovoltaic glass deep processing grasping and stacking system of the present invention.

[0026] Figure 8 This is a schematic diagram of the stacking stations for photovoltaic glass stacking in the photovoltaic glass deep processing grasping and stacking system of the present invention.

[0027] Reference numerals:

[0028] 100 conveyor rollers

[0029] 200 Grab Roller

[0030] 300 thrust device

[0031] 400 side wheel device

[0032] 500 Tipping Device

[0033] 600 robot

[0034] 700 stacking stations

[0035] 110 First roller frame

[0036] 120 first transmission assembly

[0037] 130 First Full Rubber Roller

[0038] 140 first cover

[0039] 121 first reduction motor

[0040] 122 First sprocket

[0041] 123 First transmission shaft

[0042] 124 round pulley

[0043] 210 Second roller frame

[0044] 220 Second transmission assembly

[0045] 230 Second Full Rubber Roller

[0046] 240 second cover

[0047] 221 second reduction motor

[0048] 222 Second sprocket

[0049] 223 Second transmission shaft

[0050] 224 Bevel gear

[0051] 310 frame

[0052] 320 stepper motor

[0053] 330 synchronous pulley

[0054] 340 screw nut pair

[0055] 350 connection plate

[0056] 360 Linear Slides

[0057] 370 Linear Slide

[0058] 380 side thrust plate

[0059] 410 Positioning Framework

[0060] 420 positioning mounting plate

[0061] 430 first positioning wheel

[0062] 510 base

[0063] 520 servo drive motor

[0064] 530 shaft

[0065] 540 expansion sleeve

[0066] 550 Turntable

[0067] 560 limit device

[0068] 551 transmission plate

[0069] 552 flip table frame

[0070] 553 seamless universal wheel

[0071] 554 side wheel

[0072] 610 cylinder

[0073] 620 second positioning wheel

[0074] 630 suction cup assembly DETAILED DESCRIPTION

[0075] In order to more clearly describe the technical content of the present invention, further description is given below in conjunction with specific embodiments.

[0076] The photovoltaic glass deep processing grabbing and stacking system of the present invention includes a transmission roller 100, a grabbing roller 200, a side pusher 300, a side wheel device 400, a flipping device 500, a manipulator 600 and a stacking station 700. The grabbing roller 200 is placed behind the transmission roller 100 to stop the glass for subsequent actions; the side pusher 300 is arranged above the transmission roller 100 and at the front end of the grabbing roller 200 near the glass transmission entrance to stack the glass. Push sideways to position the glass; the edge wheel device 400 is arranged at the tail end of the grabbing roller 200 and close to the glass transmission outlet, and is used to complete the positioning of the glass; the flipping device 500 is on the side of the grabbing roller 200, and is used to tilt the glass to make it slide down; the manipulator 600 is on the side of the grabbing roller 200 and opposite to the flipping device 500, and is used to carry the glass to achieve the upper grabbing and stacking of the glass; the stacking station 700 is placed on both sides of the rear of the manipulator 600.

[0077] As a preferred embodiment of the present invention, the transmission roller 100 includes a first roller frame 110, a first transmission assembly 120, a plurality of first full rubber rollers 130 and a first cover shell 140. The first roller frame 110 includes a plurality of first full rubber rollers 130 placed in parallel. The first transmission assembly 120 is installed on the side of the first roller frame 110 to drive the first full rubber rollers 130 to rotate; the first cover shell 140 is arranged on the side of the first roller frame 110 and on the outside of the first transmission assembly 120.

[0078] As a preferred embodiment of the present invention, the first transmission assembly 120 includes a first reduction motor 121, a first sprocket 122, a first transmission shaft 123 and a plurality of round pulleys 124. The first reduction motor 121 is arranged below the first roller frame 110, the first sprocket 122 is connected to the first reduction motor 121, the first transmission shaft 123 is placed on the side of the first roller frame 110, and is connected to a plurality of round pulleys 124; the round pulleys 124 correspond to the first full rubber roller 130 one by one, and each round pulley 124 is connected between the corresponding first full rubber roller 130 and the first transmission shaft 123; the first reduction motor 121 drives the first transmission shaft 123 to rotate through the first sprocket 122, and the first transmission shaft 123 drives the first full rubber roller 130 to rotate through the round pulley 124.

[0079] As a preferred embodiment of the present invention, the grabbing roller 200 includes a second roller frame 210, a second transmission assembly 220, a plurality of second full rubber rollers 230 and a second cover shell 240. The second roller frame 210 includes a plurality of second full rubber rollers 230 placed in parallel. The side of the second roller frame 210 is equipped with a second transmission assembly 220 for driving the second full rubber rollers 230 to rotate. The second cover shell 240 is arranged on the side of the second roller frame 210 and on the outside of the second transmission assembly 220.

[0080] As a preferred embodiment of the present invention, the second transmission assembly 220 includes a second reduction motor 221, a second sprocket 222, a second transmission shaft 223 and a plurality of bevel gears 224. The second reduction motor 221 is installed on the second roller frame 210, the second sprocket 222 is connected to the second reduction motor 221, the second transmission shaft 223 is placed on the side of the second roller frame 210, and is connected to a plurality of bevel gears 224; the bevel gears 224 correspond to the second full rubber rollers 230 one by one, and each bevel gear 224 is connected between the corresponding second full rubber roller 230 and the second transmission shaft 223; the second reduction motor 221 drives the second transmission shaft 223 to rotate through the second sprocket 222, and the second transmission shaft 223 drives the second full rubber roller 230 to rotate through the bevel gear 224, and the bevel gear 224 is used to ensure that the glass stops accurately on the grabbing roller 200.

[0081] As a preferred embodiment of the present invention, the side thrust device 300 includes a frame 310, a stepper motor 320, a synchronous pulley 330, a screw nut pair 340, a connecting plate 350, a linear slide 360, a linear slider 370 and a side thrust plate 380. The stepper motor 320 is installed above the frame 310. The stepper motor 320 drives the screw nut pair 340 to move through the synchronous pulley 330. The nut of the screw nut pair 340 is fixedly connected to the linear slide 360 ​​through the connecting plate 350. The screw nut pair 340 drives the linear slide 360 ​​to move forward and backward. Two fixed linear sliders 370 are placed on the linear slide 360. The side thrust plate 380 is placed at the front end of the linear slide 360 ​​for pushing the glass and positioning the glass.

[0082] As a preferred embodiment of the present invention, the edge wheel device 400 includes a positioning frame 410, a positioning mounting plate 420 and a first positioning wheel 430. The positioning mounting plate 420 is fixed on the positioning frame 410. The positioning mounting plate 420 has several positioning holes, and the first positioning wheel 430 is installed and fixed in the positioning holes.

[0083] As a preferred embodiment of the present invention, the installation surface of the positioning hole forms a certain angle with the horizontal plane, and the angle is adjustable.

[0084] As a preferred embodiment of the present invention, the first positioning wheel 430 is externally wrapped with nitrile rubber.

[0085] As a preferred embodiment of the present invention, the flipping device 500 includes a base 510, a servo drive motor 520, a rotating shaft 530, a tightening sleeve 540, a flipping table 550 and a limiting device 560. The servo drive motor 520 is placed on the base 510, the rotating shaft 530 is connected to the servo drive motor 520, the rotating shaft 530 passes through the flipping table 550 horizontally, the flipping table 550 is connected to the rotating shaft 530 through the tightening sleeve 540, and the limiting device 560 is fixed on the rotating shaft 530 to ensure the safe operation of the system. The flipping device 500 realizes angle flipping through the servo drive motor 520.

[0086] As a preferred embodiment of the present invention, the flip table 550 includes a transmission plate 551, a flip table frame 552, a seamless universal wheel 553 and an edge wheel 554, the transmission plate 551 is connected to the rotating shaft 530 through a tightening sleeve 540, the flip table frame 552 is provided with a seamless universal wheel 553 and an edge wheel 554, and the transmission plate 551 is connected to the flip table frame 552.

[0087] As a preferred embodiment of the present invention, the manipulator 600 includes a cylinder 610 , a second positioning wheel 620 and a suction cup assembly 630 , wherein the second positioning wheel 620 is mounted on the end of the extending rod of the cylinder 610 , and the suction cup assembly 630 is mounted on the cylinder 610 .

[0088] As a preferred embodiment of the present invention, the turning angle of the turning device 500 is 0° to 120°.

[0089] In a specific embodiment of the present invention, a conveying roller 100, a grabbing roller 200, a side pusher 300, a side wheel device 400, a flipping device 500, a manipulator 600, a stacking station 700, and a control system are included. The grabbing roller 200 is equipped with a side pusher 300, a side wheel device 400, a flipping device 500, and a manipulator 600. The grabbing roller 200 is placed at the rear end of the conveying roller 100, and stacking stations 700 are placed on both sides of the rear of the manipulator 600. The structure of the grabbing roller 200 can achieve a relatively accurate stop when conveying glass; the side pusher 300 is provided with a stepping motor 320 and a lead screw nut pair 340, and different lengths of side pushes are performed for different glass specifications to ensure accurate positioning of the glass; the flipping device 500 is provided with a traceless universal wheel 553 to ensure that the glass surface is not damaged; after the glass is positioned on the flipping device 500, the manipulator 600 can grasp and stack the glass.

[0090] The transmission roller 100 includes a first roller frame 110, a first transmission assembly 120, a first full rubber roller 130 and a first cover 140. The first roller frame 110 is assembled by welding steel pipes and steel plates and then connecting them with screws. The first transmission assembly 120 includes a first reduction motor 121, a first sprocket 122, a first transmission shaft 123 and a round pulley 124. The first reduction motor 121 transmits torque through the first sprocket 122 to drive the first transmission shaft 123 to rotate. The first transmission shaft 123 and the first full rubber roller 130 are both provided with round pulleys 124. The first transmission shaft 123 drives the first full rubber roller 130 to rotate through the round pulley 124. The transmission part is provided with a first cover 140 to ensure safety during operation.

[0091] The grab roller 200 includes a second roller frame 210, a second transmission assembly 220, a second full rubber roller 230 and a second cover shell 240. The second roller frame 210 is assembled by welding steel pipes and steel plates and then connecting them with screws. The second transmission assembly 220 includes a second reduction motor 221, a second sprocket 222, a second transmission shaft 223 and a bevel gear 224. The second reduction motor 221 transmits torque through the second sprocket 222 to drive the second transmission shaft 223 to rotate. The second transmission shaft 223 drives the second full rubber roller 230 to rotate through the bevel gear 224. The use of the bevel gear 224 can ensure the reliability of the transmission and ensure that the glass stops at a relatively accurate position on the grab roller 200. The transmission part is equipped with a second cover shell 240 to ensure safety during operation. The structure of the grab roller 200 matches the manipulator 600 to ensure that the manipulator 600 can be extended under the roller and then lifted vertically. The grab roller 200 uses a bevel gear 224 as a transmission method.

[0092] The side thrust device 300 includes a frame 310, a stepper motor 320, a synchronous pulley 330, a lead screw nut pair 340, a connecting plate 350, a linear guide rail 360, a linear slider 370 and a side thrust plate 380. The frame 310 is assembled from a welded steel pipe and an aluminum profile. The stepper motor 320 drives the lead screw nut pair 340 to move through the synchronous pulley 330. The lead screw in the lead screw nut pair 340 is fixed, and the nut is fixed to the linear guide rail 360 through the connecting plate 350. There are two fixed linear sliders 370 on a linear guide rail 360. When the lead screw rotates, the lead screw nut drives the linear guide rail 360 to move back and forth. A side thrust plate 380 is placed at the front end of the linear guide rail 360, and the glass is pushed to be positioned through the side thrust plate 380.

[0093] The side thrust device 300 can rely on a control system to control different extension amounts according to different specifications of glass.

[0094] The side thrust device 300 is driven by the stepping motor 320 to move the ball screw nut

[0095] The side wheel device 400 includes a positioning frame 410, a positioning mounting plate 420 and a positioning wheel. The positioning frame 410 is assembled by connecting a steel pipe and an aluminum profile with screws; the positioning mounting plate 420 is fixed on the positioning frame 410; the first positioning wheel 430 is fixed in the positioning hole of the positioning mounting plate 420; the mounting surface of the positioning hole of the positioning mounting plate 420 has a certain angle with the horizontal plane and is adjustable; the first positioning wheel 430 is wrapped with a layer of nitrile rubber.

[0096] The surface of the side wheel 554 is made of nitrile rubber, and the installation surface of the side wheel 554 has a certain inclination angle.

[0097] The flipping device 500 includes a base 510, a servo drive motor 520, a rotating shaft 530, a tightening sleeve 540, a turning platform 550 and a limiting device 560; the base 510 is welded by steel pipes, and the rotating shaft 530 is provided with torque by the servo drive motor 520; the turning platform 550 includes a transmission plate 551, a turning platform frame 552, a seamless universal wheel 553 and a side wheel 554; the transmission plate 551 is connected to the rotating shaft 530 through the tightening sleeve 540, and can be driven by the servo drive motor 520 to achieve a precise angle flipping from 0° to 120°. The limiting device 560 is fixed on the rotating shaft 530 to ensure safe operation. The flipping angle of the flipping device 500 is 0°-120°, and the turning platform frame 552 is provided with a seamless universal wheel 553 and a side wheel 554.

[0098] The manipulator 600 includes: a cylinder 610, a second positioning wheel 620 and a suction cup assembly 630; the second positioning wheel 620 is installed at the end of the extended rod of the cylinder 610, and the suction cup in the suction cup assembly 630 is equipped with a suction cup cover. The manipulator 600 is provided with a cylinder 610; the suction cup of the manipulator 600 is equipped with a suction cup cover.

[0099] The stacking station 700 can be an iron or wooden pallet, a paper laying machine or other equipment, and different equipment can be installed according to different needs. The number of stacking stations 700 can be freely adjusted according to actual needs, generally 1-3.

[0100] The working process of the present invention is as follows:

[0101] Example of grabbing the lower surface of glass:

[0102] like Figure 1As shown, after the short side of the glass enters the transmission roller 100, it continues to be transported forward to the grab roller 200. The glass slows down on the grab roller 200 and stops at the set stop position. At this time, the manipulator 600 is on standby below the grab roller 200. After the glass stops, the manipulator 600 moves horizontally upward and lifts the glass through the suction cup assembly 630 on the manipulator 600. At this time, the suction cup blows out compressed air, and the cylinder 610 extends with the positioning wheel. The manipulator 600 changes from horizontal to a certain angle. Because the suction cup blows air at this time, there is an air layer between the suction cup and the glass, and the friction is very small. The glass slides down under the action of gravity, and the long side of the glass rests on the two positioning wheels. At this time, the long side of the glass is positioned.

[0103] At this time, the robot 600 is lifted to a certain angle toward the short side of the glass, so that the glass slides toward the side wheel device 400 due to gravity, and the two positioning wheels align the short side of the glass. At this time, the glass is positioned, and the suction cup assembly 630 changes from blowing to suction, sucking the glass onto the suction cup. After the vacuum pressure meets the conditions, the robot 600 will move the glass to the designated position for stacking. When the robot 600 releases the glass, it returns to the bottom of the roller and waits for the next piece of glass to be delivered.

[0104] In this way, the lower surface of a piece of photovoltaic glass is grasped.

[0105] Example of grabbing the upper surface of glass:

[0106] like Figure 1 As shown, after the short side of the glass enters the transmission roller 100 forward, it continues to be transported forward to the grabbing roller 200, and the glass slows down on the grabbing roller 200 and stops at the set stop position. At this time, the manipulator 600 is on standby above the grabbing roller 200. After the glass stops steadily, the flipping device 500 is running, and the traceless universal wheel 553 on the flipping table 550 drags the glass to rotate a certain angle. At this time, the glass is tilted, and the glass slides down under the action of gravity and hits the side wheel 554, and the long side of the glass is positioned and aligned; then the side push plate 380 in the side push device 300 is extended under the drive of the stepper motor 320 to push the glass along the roller conveying direction. According to the length of the glass, the side push device 300 can control the extension amount; until the glass hits the positioning wheel at the lower end of the side wheel device 400, the short side of the glass is aligned.

[0107] After the glass is positioned, the suction cup surface of the robot 600 is parallel to the inclination angle of the flipping device 500, moves downward, and presses onto the glass surface. The suction cup assembly 630 inhales air and sucks the glass onto the suction cup. When the vacuum pressure meets the conditions, the robot 600 will move the glass to the designated location for stacking. When the robot 600 releases the glass, it returns to the roller table and waits for the next piece of glass to be delivered.

[0108] Since the action modes of grasping the upper surface and the lower surface of the glass are different, the applicable beat for grasping the upper surface of the glass can be relatively fast.

[0109] The photovoltaic glass deep-processing grasping and stacking system of the present invention is adopted to realize arbitrary switching between upper grasping and lower grasping of photovoltaic deep-processed glass, while ensuring that the glass surface is free of marks and marks, meeting the manufacturers' quality requirements for glass, improving production efficiency, and providing a good solution for the photovoltaic deep-processing glass unloading method. On the basis of conventional grasping of the lower surface of the glass, it can also grasp the upper surface of the glass, while ensuring stacking accuracy and glass quality, thus realizing the intelligence and modularization of the industry.

[0110] In this specification, the present invention has been described with reference to specific embodiments thereof. However, it is apparent that various modifications and variations may be made without departing from the spirit and scope of the present invention. Therefore, the specification and drawings should be regarded as illustrative rather than restrictive.

Claims

1. A photovoltaic glass deep processing grabbing and stacking system, characterized in that: The system comprises a transmission roller (100), a grabbing roller (200), a side push device (300), a side wheel device (400), a flipping device (500), a manipulator (600) and a stacking station (700), wherein the grabbing roller (200) is arranged behind the transmission roller (100) and is used to stop the glass at a set stop position; the flipping device (500) is arranged on the side of the grabbing roller (200) and is used to tilt the glass so that it slides down; the manipulator (600) is arranged on the side of the grabbing roller (200) and is opposite to the flipping device (500) and is used to realize the grabbing and stacking of the glass; The grabbing roller (200) comprises a second roller frame (210), a second transmission assembly (220), and a plurality of second full-rubber rollers (230); the second roller frame (210) comprises a plurality of second full-rubber rollers (230) arranged in parallel; a second transmission assembly (220) is installed on the side of the second roller frame (210) for driving the second full-rubber rollers (230) to rotate; the manipulator (600) comprises a cylinder (610), a second positioning wheel (620), and a suction cup assembly (630); the second positioning wheel (620) is installed on the end of the protruding rod of the cylinder (610), and the suction cup assembly (630) is installed on the cylinder (610); the side of the second roller frame (210) close to the manipulator (600) is not installed with an upper frame rod in the front-to-back direction, so that the manipulator (600) can move up and down between the plurality of second full-rubber rollers (230); The turning device (500) comprises a turning platform (550), wherein the turning platform (550) realizes angle turning through a servo motor, and the turning platform (550) comprises a transmission plate (551), a turning platform frame (552), a traceless universal wheel (553) and an edge wheel (554), wherein the transmission plate (551) is connected to the turning platform frame (552), and the traceless universal wheel (553) and the edge wheel (554) are provided on the turning platform frame (552), and the turning platform frame (552) can move up and down between the plurality of second full rubber rollers (230); The edge wheel device (400) is arranged at the rear end of the grab roller (200) and close to the glass transmission outlet; the edge wheel device (400) comprises a positioning frame (410), a positioning mounting plate (420) and a first positioning wheel (430); the positioning mounting plate (420) is fixed on the positioning frame (410); the upper end and the lower end of the positioning mounting plate (420) are both provided with two positioning holes; the first positioning wheel (430) is installed and fixed in the positioning holes; The side push device (300) is arranged above the transmission roller (100) and at the front end of the grabbing roller (200) close to the glass transmission entrance; the stacking station (700) is placed on both sides of the rear of the robot (600); The grabbing and stacking system can realize arbitrary switching between upper grabbing and lower grabbing of glass; When grabbing, the manipulator first stands by under the grabbing roller. After the short side of the glass enters the transmission roller forward, it continues to be transported forward to the grabbing roller. The glass stops at the set stop position. The manipulator moves horizontally upward and lifts the glass through the suction cup assembly. At this time, the suction cup blows out compressed air to form an air layer between the suction cup and the glass. The cylinder extends the second positioning wheel, and then the manipulator changes from horizontal to lifted at a certain angle. The long side of the glass leans on the two second positioning wheels, and the long side of the glass is positioned; the manipulator then lifts a certain angle to the short side of the glass. The glass slides to the side wheel device under the action of gravity. The two first positioning wheels at the upper end align the short side of the glass. After the glass is positioned, the suction cup assembly changes from blowing to sucking, sucking the glass on the suction cup, and the manipulator moves the glass to the stacking station for stacking. When the manipulator releases the glass, it returns to stand by under the grabbing roller, waiting for the next piece of glass to be delivered in place. When grabbing, the robot first stands by above the grabbing roller. After the short side of the glass enters the transmission roller forward, it continues to be transported forward to the grabbing roller, and the glass stops at the set stop position; the flipping device flips up, and the traceless universal wheel on the turning table drags the glass to rotate a certain angle. At this time, the glass tilts and slides down under the action of gravity, hitting the edge wheel, and the long side of the glass is positioned; then the side pushing device pushes the glass along the conveying direction of the roller until the glass hits the first positioning wheel at the lower end of the edge wheel device, and the short side of the glass is aligned; then the suction cup surface of the robot is made parallel to the inclination angle of the turning table, the robot moves downward and presses on the glass surface, the suction cup assembly inhales, and the glass is sucked on the suction cup, and the robot moves the glass to the stacking station for stacking. When the robot releases the glass, it returns to stand by above the grabbing roller, waiting for the next piece of glass to be delivered in place.

2. The photovoltaic glass deep processing grabbing and stacking system according to claim 1 is characterized in that: The transmission roller (100) comprises a first roller frame (110), a first transmission assembly (120), a plurality of first full rubber rollers (130) and a first cover shell (140); the first roller frame (110) comprises a plurality of first full rubber rollers (130) arranged in parallel; the first transmission assembly (120) is installed on the side of the first roller frame (110) for driving the first full rubber rollers (130) to rotate; the first cover shell (140) is arranged on the side of the first roller frame (110) and outside the first transmission assembly (120).

3. The photovoltaic glass deep processing grabbing and stacking system according to claim 2 is characterized in that: The first transmission assembly (120) comprises a first reduction motor (121), a first sprocket (122), a first transmission shaft (123) and a plurality of round pulleys (124); the first reduction motor (121) is arranged below the first roller frame (110); the first sprocket (122) is connected to the first reduction motor (121); the first transmission shaft (123) is arranged on the side of the first roller frame (110) and is connected to the plurality of round pulleys (124); the round pulleys (124) correspond to the first full rubber rollers (130) one by one, and each round pulley (124) is connected between the corresponding first full rubber roller (130) and the first transmission shaft (123); the first reduction motor (121) drives the first transmission shaft (123) to rotate via the first sprocket (122); and the first transmission shaft (123) drives the first full rubber roller (130) to rotate via the round pulley (124).

4. The photovoltaic glass deep processing grabbing and stacking system according to claim 1 is characterized in that: The grab roller (200) further comprises a second cover shell (240), wherein the second cover shell (240) is arranged on the side of the second roller frame (210) and outside the second transmission assembly (220).

5. The photovoltaic glass deep processing grabbing and stacking system according to claim 4 is characterized in that: The second transmission assembly (220) comprises a second reduction motor (221), a second sprocket (222), a second transmission shaft (223) and a plurality of bevel gears (224); the second reduction motor (221) is mounted on the second roller frame (210); the second sprocket (222) is connected to the second reduction motor (221); the second transmission shaft (223) is disposed on the side of the second roller frame (210) and is connected to the plurality of bevel gears (224); the bevel gears (22 4) corresponding to the second full rubber roller (230) one by one, each bevel gear (224) is connected between the corresponding second full rubber roller (230) and the second transmission shaft (223); the second reduction motor (221) drives the second transmission shaft (223) to rotate via the second sprocket (222), and the second transmission shaft (223) drives the second full rubber roller (230) to rotate via the bevel gear (224), and the bevel gear (224) is used to ensure that the glass stops accurately on the grabbing roller (200).

6. The photovoltaic glass deep processing grabbing and stacking system according to claim 1, characterized in that: The side thrust device (300) comprises a frame (310), a stepper motor (320), a synchronous pulley (330), a lead screw nut pair (340), a connecting plate (350), a linear slide rail (360), a linear slider (370) and a side thrust plate (380). The stepper motor (320) is installed above the frame (310). The stepper motor (320) drives the lead screw nut pair (340) to move via the synchronous pulley (330). The nut of the lead screw nut pair (340) is fixedly connected to the linear slide rail (360) via the connecting plate (350). The lead screw nut pair (340) drives the linear slide rail (360) to move forward and backward. Two fixed linear sliders (370) are placed on the linear slide rail (360). The side thrust plate (380) is placed at the front end of the linear slide rail (360) and is used to push the glass and position the glass.

7. The photovoltaic glass deep processing grabbing and stacking system according to claim 1, characterized in that: The mounting surface of the positioning hole is at a certain angle to the horizontal plane, and the angle is adjustable.

8. The photovoltaic glass deep processing grabbing and stacking system according to claim 1, characterized in that: The first positioning wheel (430) is externally wrapped with nitrile rubber.

9. The photovoltaic glass deep processing grabbing and stacking system according to claim 1, characterized in that: The tilting device (500) further comprises a base (510), a servo drive motor (520), a rotating shaft (530), a tightening sleeve (540) and a limiting device (560); the servo drive motor (520) is placed on the base (510); the rotating shaft (530) is connected to the servo drive motor (520); the rotating shaft (530) passes through a transmission plate (551) transversely; the transmission plate (551) is connected to the rotating shaft (530) via the tightening sleeve (540); and the limiting device (560) is fixed to the rotating shaft (530) to ensure safe operation of the system.

10. The photovoltaic glass deep processing grabbing and stacking system according to claim 9, characterized in that: The turning angle of the turning platform (550) is between 0° and 120°.

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