Glass unloading device

Abstract

The present invention discloses a glass unloading device, wherein a unloading roller is installed at one end of a frame discharging material; the manipulator comprises a grabbing frame and a vacuum suction cup installed on the grabbing frame; the unloading frame comprises a fixed frame and a lifting frame, the vertical rod of the fixed frame passes through the lifting frame and is fixed thereto, a support plate is installed at the bottom of the fixed frame, a first driving device is installed at the lower part of the support plate, the output shaft of the first driving device passes through the support plate, a screw rod is installed on the support plate, the top of the screw rod is sleeved on the lifting frame, and the first driving device drives the lifting frame to achieve lifting through the screw rod. The beneficial effect of the present invention is that the glass unloading work is completed by using a mechanical arm, the vacuum suction cup arranged on the mechanical arm is used in conjunction with a pressure sensor to accurately remove the glass from the conveying roller and transport it to a designated glass unloading frame, the lifting frame can adjust the height of the glass, and can realize the glass unloading work when a paper film is attached to the glass in conjunction with the mechanical arm, and the degree of automated transportation is high.

Description

Technical Field

[0001] The invention belongs to the technical field of glass production equipment, and in particular relates to a glass unloading device. Background Art

[0002] With the development of economy and social progress, the demand for energy is getting higher and higher. Traditional energy sources such as coal, oil and natural gas are becoming increasingly depleted and polluting. Therefore, finding clean new energy has become an urgent issue facing mankind. As a new energy source, solar energy is absolutely clean, pollution-free, inexhaustible, and can be used on a large scale. As a result, various solar energy-based products such as solar water heaters, solar panels, and solar power generation have emerged. Among them, solar power generation, as one of the solar energy utilization technologies, has become the leader with its large amount of electricity resources. The principle of Tianyangneng solar thermal power generation is to focus sunlight on the solar energy collection device through a reflector, use solar energy to heat the heat transfer medium (liquid or gas) in the collection device, and then heat the water to form steam to drive or directly drive the generator to generate electricity.

[0003] Traditional glass production lines generally require manual loading and unloading of glass. After unloading, the glass needs to be placed in a specified manner (tilted) to prevent the glass from falling and being damaged or causing safety accidents. At the same time, it can also facilitate subsequent grabbing of the glass. However, manual unloading has the following disadvantages:

[0004] (1) The labor intensity of the staff is high and the efficiency of material cutting is low;

[0005] (2) As the edges of glass are sharp, workers may easily break the glass during handling, thus reducing the qualified rate of glass;

[0006] (3) For larger glass, multiple workers are required to work together to cut the glass or specific tools are required, which results in high labor costs. Summary of the invention

[0007] The purpose of the present invention is to provide an automatic glass unloading device which has simple structure, simple operation, high automation, is not easy to damage the glass, has a fast glass unloading speed and high production efficiency.

[0008] The technical solution of the present invention is as follows:

[0009] A glass unloading device comprises a frame, a mechanical arm and an unloading rack, wherein the mechanical arm is arranged on one side of the frame, and the unloading rack is installed below the frame;

[0010] The frame is provided with a conveying roller, and one end of the frame discharging material is provided with a lower sheet roller;

[0011] The mechanical arm comprises a mechanical arm and a mechanical support seat installed on the ground, and the mechanical arm comprises a grabbing frame and a vacuum suction cup installed on the grabbing frame;

[0012] The unloading rack includes a fixed rack and a lifting rack, wherein the fixed rack is installed below the frame, a vertical rod of the fixed rack passes through the lifting rack and is fixed thereto, a supporting plate is installed at the bottom of the fixed rack, a first driving device is installed at the lower part of the supporting plate, an output shaft of the first driving device passes through the supporting plate, a screw rod is installed on the supporting plate, a top of the screw rod is sleeved on the lifting rack, the first driving device drives the lifting rack to be lifted and lowered through the screw rod, and a supporting rod is installed on the lifting rack for supporting the glass.

[0013] In the above technical solution, a positioning mechanism is provided on one end of the frame close to the lower piece, and the positioning mechanism includes a second driving device, a positioning rod and a positioning frame installed on the frame, a positioning roller is installed on the top of the positioning frame, and the second driving device is installed on the positioning frame to drive the positioning roller to rise and fall to position the unloading glass.

[0014] In the above technical solution, the grabbing frame is a rectangular frame, the vacuum suction cups are evenly arranged on the grabbing frame, and a pressure sensor is provided below the vacuum suction cups to sense the pressure between the vacuum suction cups and the glass.

[0015] In the above technical solution, the vacuum suction cups are arranged in a matrix on the grabbing frame.

[0016] In the above technical solution, a plurality of protrusions are provided inside the vacuum suction cup to prevent the glass from being damaged due to excessive pressure in the vacuum suction cup.

[0017] In the above technical solution, two paper clamping manipulators are symmetrically installed on both sides of the grabbing frame for clamping glass with paper attached.

[0018] In the above technical solution, the top of the fixing frame is fixedly connected to the frame.

[0019] In the above technical solution, the support plate is installed at the bottom center of the fixing frame, and the support rod is installed on the support plate.

[0020] In the above technical solution, a support column is installed on the top of the support rod.

[0021] In the above technical solution, the fixing frame and the lifting frame are both rectangular frames.

[0022] The advantages and positive effects of the present invention are:

[0023] 1. Use a robotic arm to complete the glass unloading work. The vacuum suction cup installed on the robotic arm is used in conjunction with the pressure sensor to effectively reduce the damage to the glass caused by excessive vacuum suction, and accurately remove the glass from the conveyor roller and move it to the designated glass unloading rack.

[0024] 2. The lifting frame can be raised and lowered to adjust the height of the glass. When there is a paper film attached to the glass, it can be used with the robotic arm to unload the glass. It has a high degree of automated handling and saves manpower and material resources.

[0025] 3. The film unloading device is provided with an artificial film unloading roller, and the film can be unloaded manually when the robot arm is repaired. The device can have a variety of film unloading modes and has high flexibility in use. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of the automatic glass unloading device of the present invention;

[0027] Figure 2 It is a structural schematic diagram of the lifting frame in the present invention;

[0028] Figure 3 It is a structural schematic diagram of the unloading rack in the present invention;

[0029] Figure 4 It is a structural schematic diagram of the grabbing frame in the present invention;

[0030] Figure 5 It is a structural schematic diagram of the positioning mechanism in the present invention.

[0031] In the figure:

[0032] 1. Frame 2. Robotic arm 3. Unloading rack

[0033] 4. Lower film roller 5. Conveyor roller 6. Fixed frame

[0034] 7. Lifting frame 8. Grasping frame 9. Vacuum suction cup

[0035] 10. First driving device 11. Support rod 12. Support plate

[0036] 13. Screw rod 14. Positioning frame 15. Positioning rod

[0037] 16. Positioning roller 17. Second driving device 18. Support column

[0038] 19. Pressure sensor 20. Paper clamping robot DETAILED DESCRIPTION

[0039] The present invention is further described in detail below in conjunction with specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention, and in no way limit the protection scope of the present invention.

[0040] Example 1

[0041] like Figure 1-Figure 5 As shown, the glass unloading device of the present invention comprises a frame 1, a mechanical arm 2 and a material unloading frame 3, wherein the mechanical arm 2 is arranged at one side of the frame 1, and the material unloading frame 3 is installed below the frame 1; a conveying roller 5 is installed on the frame 1, the mechanical arm 2 comprises a mechanical hand and a mechanical support seat installed on the ground, the mechanical hand comprises a rectangular grabbing frame 8 and a vacuum suction cup on the grabbing frame 8; and the pressure sensor 19 works together to prevent the vacuum suction cup 9 from generating excessive suction force and damaging the glass; the material unloading frame 3 comprises a fixed frame 6 and a lifting frame 7, the fixed frame 6 is installed below the frame 1, the vertical rod of the fixed frame 6 passes through the lifting frame 7 and is fixed thereto, a support plate 12 is installed at the bottom of the fixed frame 6, a first driving device 10 is installed at the lower part of the support plate 12, and a first driving device 10 is installed at the lower part of the first driving device 10. An output shaft of a driving device 10 passes through a support plate 12, on which a lead screw 13 is mounted, and the top of the lead screw 13 is mounted on the lifting frame 7. The first driving device 10 drives the lifting frame 7 to move up and down through the lead screw 13. A support rod 11 is mounted on the lifting frame 7 to support the glass. The support rod 11 can pass through the gap between the conveying rollers 5 and thus pass through the conveying rollers 5 to move up and down. A positioning mechanism is provided at one end of the frame 1 close to the lower sheet, and the positioning mechanism includes a second driving device 17, a positioning rod 15 and a positioning frame 14 mounted on the frame 1. A positioning roller 16 is mounted on the top of the positioning frame 14. The second driving device 17 is mounted on the positioning frame 14 to drive the positioning roller 16 to move up and down to position the unloading glass.

[0042] When unloading the glass, the glass is transported to the grabbing frame 8 of the robot arm 2 via the conveying roller 5, and the position of one side of the glass is positioned by the positioning roller 16 to calibrate the position of the glass. Then the vacuum suction cup 9 starts to work and adsorbs the glass. The pressure sensor 19 works to prevent the adsorption pressure of the vacuum suction cup 9 from being too high, which may cause damage to the glass. After adsorbing the glass, the robot arm 2 flips over and transfers the glass to the glass unloading frame to complete the glass unloading work.

[0043] Example 2

[0044] On the basis of Example 1, the vacuum suction cup 9 is evenly arranged in a 4*4 pattern on the grabbing frame 8, three special-shaped protrusions are provided in the vacuum suction cup 9, and a pressure sensor 19 is provided under the vacuum suction cup 9. The pressure sensor 19 is used to sense the pressure between the vacuum suction cup 9 and the glass, and works together with the pressure sensor 19 to prevent the vacuum suction cup 9 from generating excessive force and damaging the glass.

[0045] When the glass is unloaded, a layer of paper film will be attached to the upper surface of the glass to reduce the damage caused by mutual friction when the glass is stacked in multiple layers. The glass is transported to the bottom of the lifting frame 7 by the conveying roller 5, and the position of one side of the glass is positioned under the action of the positioning roller 16. The position of the glass is directly under the mechanical arm 2. Two paper clamping manipulators 20 are symmetrically installed on both sides of the grabbing frame 8 to clamp the glass and the paper film together; under the action of the first driving device 10, the driving screw 13 performs linear motion to drive the lifting frame 7 to move upward, thereby driving the support rod 11 installed on the lifting frame 7 to rise upward to support the glass, and the grabbing frame 8 of the mechanical arm 2 flips to the bottom of the glass, and the vacuum suction cup 9 is started to absorb the bottom of the glass. Then the first driving device 10 runs to drive the lifting frame 7 to move downward. After flipping, the mechanical arm 2 transports the glass to the lower sheet rack of the glass to complete the unloading of the glass.

[0046] The second driving device 17 of the positioning frame 14 is a cylinder, which is used to drive the positioning rod 15 to move up and down. When the glass to be positioned is thicker, the positioning rod 15 is raised to effectively position the thicker glass so that the glass can be better positioned.

[0047] The paper clamping manipulators 20 on both sides can clamp the paper film and the glass together, and the vacuum suction cup 9 absorbs the side of the glass without the paper film, which can not only protect the glass from wear and tear, but also quickly transfer the glass to the lower sheet rack through the manipulator 2 to complete the glass unloading work, with a high degree of automation.

[0048] Example 3

[0049] On the basis of Example 1, a sheet unloading roller 4 is installed at one end of the frame 1 for discharging materials. When the robot arm 2 is unable to work for routine maintenance, the staff can manually unload the glass directly from the frame 1 through the sheet unloading roller 4, thereby completing the unloading work.

[0050] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A glass unloading device, characterized in that: It comprises a frame (1), a mechanical arm (2) and a material unloading frame (3), wherein the mechanical arm (2) is arranged on one side of the frame (1), and the unloading frame (3) is installed below the frame (1); A conveying roller (5) is installed on the frame (1); The mechanical arm (2) comprises a mechanical arm and a mechanical support seat installed on the ground, and the mechanical arm comprises a grabbing frame (8) and a vacuum suction cup (9) installed on the grabbing frame (8); The unloading frame (3) comprises a fixed frame (6) and a lifting frame (7), wherein the fixed frame (6) is installed below the frame (1), the vertical rod of the fixed frame (6) passes through the lifting frame (7) and is fixed to the frame (1), a support plate (12) is installed at the bottom of the fixed frame (6), a first driving device (10) is installed at the lower part of the support plate (12), an output shaft of the first driving device (10) passes through the support plate (12), a screw rod (13) is installed on the support plate (12), the top of the screw rod is sleeved on the lifting frame (7), the first driving device (10) drives the lifting frame (7) to be lifted and lowered through the screw rod (13), and a support rod (11) is installed on the lifting frame (7) for supporting glass; A positioning mechanism is provided at one end of the frame (1) close to the lower plate, the positioning mechanism comprising a second driving device (17), a positioning rod (15) and a positioning frame (14) mounted on the frame (1), a positioning roller (16) being mounted on the top end of the positioning frame (14), and the second driving device (17) being mounted on the positioning frame (14) for driving the positioning roller (16) to rise and fall so as to position the unloading glass; The grabbing frame (8) is a rectangular frame, the vacuum suction cups (9) are evenly arranged on the grabbing frame (8), and a pressure sensor (19) is provided below the vacuum suction cups (9) for sensing the pressure between the vacuum suction cups (9) and the glass; The vacuum suction cup (9) is provided with a plurality of protrusions for preventing the vacuum suction cup from damaging the glass due to excessive pressure; The glass is transported to the bottom of the lifting frame by the conveying roller, and the position of one side of the glass is positioned under the action of the positioning roller. The position of the glass is directly under the mechanical arm. Two paper clamping mechanical arms are symmetrically installed on both sides of the grabbing frame for clamping the glass and the paper film together. Under the action of the first driving device, the driving screw rod performs linear motion to drive the lifting frame (7) to move upward, thereby driving the support rod installed on the lifting frame (7) to rise upward to support the glass. The grabbing frame of the mechanical arm (2) flips to the bottom of the glass, and the vacuum suction cup is started to absorb the bottom of the glass. Then, the first driving device is operated to drive the lifting frame (7) to move downward. After flipping, the mechanical arm (2) transports the glass to the lower sheet rack of the glass, completing the glass lowering work.

2. The glass lowering device according to claim 1, characterized in that: The vacuum suction cups (9) are arranged in a matrix on the grabbing frame (8).

3. The glass lowering device according to claim 1, characterized in that: Two paper clamping manipulators (20) are symmetrically mounted on both sides of the grabbing frame (8) for clamping glass with paper attached.

4. The glass lowering device according to claim 3, characterized in that: The top of the fixing frame (6) is fixedly connected to the frame (1).

5. The glass lowering device according to claim 4, characterized in that: The support plate (12) is installed at the bottom center of the fixing frame (6), and the support rod (11) is installed on the support plate (12).

6. The glass lowering device according to claim 5, characterized in that: A support column (18) is installed on the top of the support rod (11).

7. The glass lowering device according to claim 6, characterized in that: A lower sheet roller (4) is installed at one end of the frame (1) for discharging materials.

Images