Transport device

Abstract

The present invention relates to a handling device, comprising a material grabbing module for grabbing materials; and a cushioning grabbing module, disposed at the edge of the material grabbing module, for grabbing cushioning beneath the materials while the material grabbing module grabs the materials. The handling device of the present invention can simultaneously grab cushioning beneath the materials while grabbing the materials, reducing the need for manual placement of cushioning and effectively increasing the work cycle. The entire device is structurally stable and compact, meeting the requirements of flexible production and effectively improving production efficiency.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, in particular to the field of material handling and palletizing technology, and specifically refers to a handling device. Background Art

[0002] The handling devices in the existing technology are generally only capable of handling a single material. However, in the actual production process, padding needs to be placed between the materials to prevent adverse effects caused by direct contact between the materials. However, the existing technology requires manual placement of padding. For example, the existing ultra-thin glass handling and stacking grippers only absorb glass panels, and manual padding is required during stacking to prevent negative pressure from forming on the glass stacking surface, making it difficult to separate the glass later. The existing automated glass paper laying mechanism is used as a separate integrated device in conjunction with a robotic gripper to grab the glass. It has problems such as a long coordination cycle, poor paper laying flatness, and a large equipment footprint. 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 handling device with a compact and stable structure, small space occupancy, good applicability and meeting production needs.

[0004] In order to achieve the above object, the transport device of the present invention is as follows:

[0005] The main feature of the transport device is that it comprises:

[0006] Material grabbing module, used to grab materials;

[0007] The cushioning material grabbing module is arranged at the edge of the material grabbing module and is used for grabbing the cushioning material under the material when the material grabbing module grabs the material.

[0008] Preferably, the cushion material grabbing module includes an array of clamping components, and the array of clamping components is distributed on both sides of the material grabbing module, and each group of clamping components is fixed to the edge of the material grabbing module through a corresponding fixed support beam component.

[0009] More preferably, each group of the clamping assemblies includes a first cylinder, a cylinder support plate, an L-shaped lining plate and a pressure plate;

[0010] The L-shaped lining plate is connected to the corresponding fixed support beam assembly; the first cylinder is fixed to the L-shaped lining plate through the cylinder support plate; the pressure plate is connected to the first cylinder;

[0011] When the cushioning material needs to be grabbed, the pressing plate is driven by the first cylinder to fit the side of the L-shaped lining plate opposite to the pressing plate to clamp the cushioning material;

[0012] When there is no need to grab the cushion, the pressing plate is driven by the first cylinder to not fit the side of the L-shaped liner opposite to the pressing plate;

[0013] The first cylinder is provided with an in-position magnetic switch.

[0014] Furthermore, a side of the L-shaped lining plate opposite to the pressing plate is an inclined surface, and a side of the pressing plate adjacent to the L-shaped lining plate is hinged to the L-shaped lining plate via a first hinge component.

[0015] Furthermore, the two ends of the first cylinder are connected to the cylinder support plate and the pressure plate through corresponding second hinge components respectively;

[0016] A cylinder support connecting plate is further provided in the cylinder support plate at a position between the second hinged component and the L-shaped lining plate, and the height of the top of the second hinged component is higher than the height of the top of the cylinder support connecting plate;

[0017] The middle section of the first cylinder is supported on the cylinder supporting connecting plate.

[0018] Furthermore, a slide plate is provided at the bottom of the L-shaped lining, and a plane of the slide plate is located at the same horizontal plane as a surface of the L-shaped lining plate opposite to the pressure plate; a roller shaft component is also provided at a position adjacent to the first hinge component in the L-shaped lining plate.

[0019] Furthermore, a silicone sheet is provided on a side of the pressing plate opposite to the L-shaped lining plate.

[0020] More preferably, each of the fixed support beam assemblies comprises a cylinder mounting plate, a guide plate, a slider, a fixing mechanism and a second cylinder;

[0021] The edge of the material grabbing module is provided with a clamping assembly support beam;

[0022] The guide plate is provided on the support beam of the clamping assembly, and a long slot is provided on the guide plate. The second cylinder and the slider are respectively located on both sides of the guide plate, and the second cylinder is connected to the slider via the cylinder mounting plate. The second cylinder can move along the slot, and the fixing mechanism is connected to the slider for fixing the position of the second cylinder.

[0023] The output end surface of the second cylinder is connected to the clamping assembly.

[0024] Furthermore, the output end surface of the second cylinder is connected to the clamping assembly via a linear bearing spring assembly;

[0025] The linear bearing spring assembly includes a guide connecting plate, a linear bearing plate and a linear bearing with a spring component;

[0026] The linear bearing plate is connected to the output end face of the second cylinder, one end of the linear bearing with a spring component passes through the linear bearing plate and is connected to the guide connecting plate, and the other end of the linear bearing with a spring component is connected to the clamping assembly.

[0027] Preferably, the material grabbing module comprises an adsorption gripper frame, and a predetermined number of suction cups are provided on a side of the adsorption gripper frame adjacent to the material.

[0028] By adopting this handling device, a cushioning material grabbing module is set at the edge of the material grabbing module, so that the cushioning material located under the material can be grabbed at the same time as the material is grabbed, reducing the procedure of manually laying the cushioning material and effectively improving the work rhythm. The entire device has a stable and compact structure, which meets the needs of flexible production and can effectively improve production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 Schematic diagram of the structure of the transport device of the present invention in one embodiment.

[0030] Figure 2 for Figure 1 A magnified view of the dunnage grabbing module in position A.

[0031] Figure 3 for Figure 1 A schematic diagram of the structure of the cushion grabbing module from a second perspective in position A.

[0032] Figure 4 FIG. 1 is a schematic structural diagram of a clamping assembly of the present invention in a state of gripping a cushion in one embodiment.

[0033] Figure 5 for Figure 1 Schematic diagram of the structure of the cushion grabbing module in position A from a third perspective.

[0034] Figure 6 for Figure 1 A magnified view of the dunnage grabbing module in position B.

[0035] Reference numerals

[0036] 1 Duvet grabbing module

[0037] 1.1 Fixing the support beam assembly

[0038] 1.1.1 Clamping assembly support beam

[0039] 1.1.2 Cylinder mounting plate

[0040] 1.1.3 Guide Plate

[0041] 1.1.4 Slider

[0042] 1.1.5 Fixing mechanism

[0043] 1.2 Second cylinder

[0044] 1.3 Linear bearing spring assembly

[0045] 1.3.1 Guide connecting plate

[0046] 1.3.2 Linear bearing plate

[0047] 1.3.3 Linear bearings with spring elements

[0048] 1.4 Clamping components

[0049] 1.4.1 First Cylinder

[0050] 1.4.2 Second hinged component

[0051] 1.4.3 Cylinder support plate

[0052] 1.4.4 L-shaped lining

[0053] 1.4.5 Skateboard

[0054] 1.4.6 Pressure plate

[0055] 1.4.7 Cylinder support connecting plate

[0056] 1.4.8 Stepped screw fixing plate

[0057] 1.4.9 Step screws for fulcrums

[0058] 1.4.10 Roller shaft components

[0059] 2 Adsorption gripper DETAILED DESCRIPTION

[0060] In order to more clearly describe the technical content of the present invention, further description is given below in conjunction with specific embodiments.

[0061] like Figures 1 to 6 As shown, the transport device in this embodiment includes:

[0062] Material grabbing module, used to grab materials;

[0063] The cushioning material grabbing module 1 is arranged at the edge of the material grabbing module, and is used to grab the cushioning material under the material when the material grabbing module grabs the material.

[0064] In this embodiment, the cushion material grabbing module 1 includes an array of clamping components 1.4, and the array of clamping components 1.4 is distributed on both sides of the material grabbing module, and each group of clamping components 1.4 is fixed to the edge of the material grabbing module through a corresponding fixed support beam component 1.1.

[0065] In this embodiment, each group of the clamping assembly 1.4 includes a first cylinder 1.4.1, a cylinder support plate 1.4.3, an L-shaped lining plate 1.4.4 and a pressure plate 1.4.6;

[0066] The first cylinder 1.4.1 is composed of a linear cylinder with a magnetic switch and a hinged connection at one end;

[0067] The L-shaped lining plate 1.4.4 is connected to the corresponding fixed support beam assembly 1.1; the first cylinder 1.4.1 is fixed to the L-shaped lining plate 1.4.4 through the cylinder support plate 1.4.3; the pressure plate 1.4.6 is connected to the first cylinder 1.4.1;

[0068] When the cushioning material needs to be grabbed, the pressing plate 1.4.6 is driven by the first cylinder 1.4.1 to fit the side of the L-shaped liner 1.4.4 opposite to the pressing plate 1.4.6, thereby clamping the cushioning material.

[0069] When there is no need to grab the cushion, the pressing plate 1.4.6 is driven by the first cylinder 1.4.1 and does not contact the side of the L-shaped liner 1.4.4 opposite to the pressing plate 1.4.6;

[0070] The first cylinder 1.4.1 is provided with an in-position magnetic switch, which is used to detect whether the pressing plate and the L-shaped lining plate have pressed the lining material.

[0071] In this embodiment, a side of the L-shaped lining plate 1.4.4 opposite to the pressing plate 1.4.6 is an inclined surface, and a side of the pressing plate 1.4.6 adjacent to the L-shaped lining plate 1.4.4 is hinged to the L-shaped lining plate 1.4.4 via a first hinge component.

[0072] In this embodiment, the first hinge component includes a step screw fixing plate 1.4.8 and a fulcrum step screw 1.4.9. The pressure plate 1.4.6 is connected to the step screw fixing plate 1.4.8, and the step screw fixing plate 1.4.8 is hinged to the L-shaped lining plate 1.4.4 through the fulcrum step screw 1.4.9.

[0073] In this embodiment, the two ends of the first cylinder 1.4.1 are connected to the cylinder support plate 1.4.3 and the pressure plate 1.4.6 through corresponding second hinged parts 1.4.2, that is, the fixed end and the output end of the first cylinder 1.4.1 are both equipped with second hinged parts 1.4.2;

[0074] A cylinder support connecting plate 1.4.7 is further provided in the cylinder support plate 1.4.3 between the second hinged member 1.4.2 and the L-shaped lining plate 1.4.4, wherein the apex of the second hinged member 1.4.2 is higher than the apex of the cylinder support connecting plate 1.4.7;

[0075] The middle section of the first cylinder 1.4.1 is supported on the cylinder support connecting plate 1.4.7.

[0076] In this embodiment, the clamping assembly 1.4 utilizes a first cylinder 1.4.1 and two second hinged parts 1.4.2 to drive the pressing plate 1.4.6 and the L-shaped lining plate 1.4.4 to close, thereby clamping the shirt.

[0077] The use of a linear cylinder with a magnetic switch to form the first cylinder 1.4.1 ensures that the clamping assembly 1.4 can accurately clamp the cushioning material, while the two second hinged parts 1.4.2 can well drive the clamping assembly 1.4 to perform the clamping operation with good force-bearing performance.

[0078] In this embodiment, the bottom of the L-shaped liner 1.4.4 is further provided with a slide plate 1.4.5, a plane of the slide plate 1.4.5 and a surface of the L-shaped liner 1.4.4 opposite to the pressure plate 1.4.6 are located at the same horizontal plane; Figures 2 to 5As shown, the slide 1.4.5 in this embodiment is a right-angled trapezoid, with both its lower and upper surfaces parallel to the bottom surface of the L-shaped liner 1.4.4. The upper surface of the slide 1.4.5 is aligned with the bottom surface of the L-shaped liner 1.4.4, and the inclined surface is coplanar with the surface of the L-shaped liner 1.4.4 that faces the pressure plate 1.4.6. In other words, the slope of the slide 1.4.5 is the same as the slope of the surface of the L-shaped liner 1.4.4 that faces the pressure plate 1.4.6. A roller shaft component 1.4.10 is also provided in the L-shaped liner 1.4.4, adjacent to the first hinge component. The images show that the roller shaft component 1.4.10 is provided in the gap formed by the L-shaped liner 1.4.4 and the slide.

[0079] The slide plate 1.4.5 can be made of polyvinyl chloride material or other polymer materials with a low friction coefficient. When the material grabbing module grabs glass and cushioning materials, the slide plate 1.4.5 and the roller in the roller shaft component 1.4.10 contact the supporting surface of the material conveying rack where the glass is placed and slide along with the second cylinder. The linear bearing 1.3.3 with the spring component plays a buffering role. When grabbing materials, the slide plate 1.4.5 and the roller shaft component 1.4.10 play a role of lubrication, reducing sliding friction, supporting and buffering.

[0080] In actual application, the bottom end of the roller in the roller shaft component 1.4.10 can be located at the same horizontal plane as the bottom surface of the skateboard 1.4.5, or slightly lower than the horizontal plane of the bottom surface of the skateboard 1.4.5; when in actual application, the bottom end of the roller in the roller shaft component 1.4.10 is slightly lower than the horizontal plane of the bottom surface of the skateboard 1.4.5, when the supporting surface of the material conveying rack is composed of a pulley with a certain elasticity, the roller in the roller shaft component 1.4.10 will first contact the supporting surface, and then the skateboard will contact the supporting surface, playing a lubricating and supporting role.

[0081] The bottom surface of the transport device is provided with a PVC slide 1.4.5 (the slide can also be made of other low-friction polymer materials) and a roller shaft component 1.4.10 consisting of a miniature stainless steel deep groove ball bearing sliding roller assembly. The roller shaft component 1.4.10 includes not only the roller but also the bearing connecting rod. Figure 5 The two rollers in roller shaft assembly 1.4.10 are clearly visible at either end of the bearing connecting rod, one side of which is cut into a horizontal plane parallel to the bottom surface of the clamping assembly. The wear resistance and high elastic modulus of PVC, combined with the lubrication and radial support provided by the deep groove ball bearings, ensure smooth tensioning of the clamping mechanism when gripping the backing.

[0082] In this embodiment, a silicone sheet is also adhered to the side of the pressure plate 1.4.6 opposite to the L-shaped lining plate 1.4.4. By attaching the silicone sheet, the friction force is increased when clamping the gasket, further ensuring the elastic clamping of the gasket without tearing it.

[0083] In this embodiment, when the clamping assembly 1.4 is in the closed clamping state, the pressing plate 1.4.6 is horizontal with one side of the paper clamping liner at 30 degrees. This inclination makes it easier to clamp the liner with an overhanging edge.

[0084] The clamping assembly 1.4 is controlled by a magnetic switch and an adjustable air pressure source. The overall structure is compact and the working performance is stable and efficient.

[0085] In this embodiment, each of the fixed support beam assemblies 1.1 includes a cylinder mounting plate 1.1.2, a guide plate 1.1.3, a slider 1.1.4, a fixing mechanism 1.1.5 and a second cylinder 1.2;

[0086] In this embodiment, the fixed support beam assembly 1.1 is responsible for fixing the entire clamping assembly 1.4 to the material grabbing module and for adjusting the working range of the clamping assembly 1.4;

[0087] The second cylinder 1.2 can be composed of a thin cylinder, and the fixing mechanism 1.1.5 is a fixing handle;

[0088] The edge of the material grabbing module is provided with a clamping assembly support beam 1.1.1;

[0089] The guide plate 1.1.3 is provided on the clamping assembly support beam 1.1.1, and is provided with an elongated slot. The second cylinder 1.2 and the slider 1.1.4 are respectively located on either side of the guide plate 1.1.3, and the second cylinder 1.2 is connected to the slider 1.1.4 via the cylinder mounting plate 1.1.2. The second cylinder 1.2 is movable along the slot. The fixing mechanism 1.1.5 is connected to the slider 1.1.4 and is used to fix the position of the second cylinder 1.2.

[0090] The output end surface of the second cylinder 1.2 is connected to the clamping assembly 1.4.

[0091] The second cylinder 1.2 is mounted on the cylinder mounting plate 1.1.2 and connected with the ventral screws, and moves on the guide plate 1.1.3 along with the slider 1.1.4 and the cylinder mounting plate 1.1.2;

[0092] The fixed support beam assembly 1.1 is responsible for directly mounting the clamping assembly 1.4 on the material grabbing module. The working range of the clamping assembly 1.4 can be manually set through the slider 1.1.4 and the guide plate 1.1.3. The fixing mechanism 1.1.5 fixes its position. The entire assembly is a flexible production accessory.

[0093] The input air pressure of the second air cylinder 1.2 is set according to the tensioning signal emitted by the in-position magnetic switch provided on the first cylinder (i.e., the signal emitted when it is detected that the pressure plate and the L-shaped liner have compressed the liner) and the magnetic micro pressure regulating valve (other pressure regulating valves may also be used as an option). The output displacement ensures that the liner is in a tensioned state without being torn. For example, it can ensure that the liner paper is always tensioned and wrinkle-free and will not be torn when clamped and tensioned.

[0094] In this embodiment, the output end surface of the second cylinder 1.2 is connected to the clamping assembly 1.4 via a linear bearing spring assembly 1.3;

[0095] The linear bearing spring assembly 1.3 comprises a guide connecting plate 1.3.1, a linear bearing plate 1.3.2 and a linear bearing 1.3.3 with a spring component;

[0096] The linear bearing plate 1.3.2 is connected to the output end face of the second cylinder 1.2, one end of the linear bearing 1.3.3 with a spring component passes through the linear bearing plate 1.3.2 and is connected to the guide connecting plate 1.3.1, and the other end of the linear bearing 1.3.3 with a spring component is connected to the clamping assembly 1.4.

[0097] The output end face of the second cylinder 1.2 is mounted with a linear bearing plate 1.3.2, which cooperates with the diameter bearing spring assembly to enable the clamping assembly 1.4 to operate in the horizontal and vertical directions;

[0098] The linear bearing spring assembly 1.3 is installed on the linear bearing plate 1.3.2, and the lower end is fixedly connected to the clamping assembly 1.4 to ensure that the clamping assembly 1.4 provides buffering when it contacts the ultra-thin flat glass conveying platform, protecting the normal operation of the mechanism. That is, the linear bearing spring assembly 1.3 plays a vertical buffering role, ensuring that the conveying device is not damaged when it contacts the glass conveying plane.

[0099] As shown in Figures 2 and 3, in this embodiment, a linear bearing plate 1.3.2 is mounted on the output end face of a thin cylinder, and a guide connecting plate 1.3.1 fixes two linear bearings 1.3.3 with spring components to ensure their synchronous movement. Furthermore, an L-shaped liner 1.4.4 is mounted on the linear bearings 1.3.3 with spring components, on which important clamping working components such as a cylinder support plate 1.4.3, a slide plate 1.4.5, a pressure plate 1.4.6, and a stepped screw fixing plate 1.4.8 are fixed.

[0100] The skateboard 1.4.5 is made of polyvinyl chloride, which has a low friction coefficient and good buffering performance. It cooperates with the roller shaft component 1.4.10 to achieve smooth work when clamping and tensioning the padding. The roller shaft component 1.4.10 uses a miniature stainless steel deep groove ball bearing as a sliding roller to play a supporting, guiding, and friction reducing role.

[0101] Combine Figure 4 and Figure 6 It can be seen that the relative angle between the clamping assembly 1.4 and the fixed support beam assembly 1.1 is not unique, but can be adjusted according to actual needs.

[0102] In this embodiment, the material grabbing module includes an adsorption gripper frame 2 , and a predetermined number of suction cups are provided on a side of the adsorption gripper frame 2 adjacent to the material.

[0103] The fixed support beam assembly 1.1 in this embodiment has a compact design structure and can be directly mounted on the adsorption gripper frame 2 for use, while also meeting flexible production requirements and overall equipment strength.

[0104] In this embodiment, the first cylinder 1.4.1, the second cylinder 1.2 and other starting components in the handling device can share the air source and valve body with the suction cup on the adsorption gripper frame 2. The overall action is completed by the robot and no second output unit is required for control.

[0105] In this embodiment, the magnetic switch carried by the first cylinder 1.4.1 can receive the instruction information of the completion of the glass adsorption action of the adsorption gripper frame 2, and the air source can control the pressure plate 1.4.6 and the L-shaped lining plate 1.4.4 to ensure that the contact surfaces coincide when they are closed after passing through the pressure regulating valve.

[0106] In this embodiment, the clamping assembly support beam 1.1.1, the cylinder mounting plate 1.1.2 and other components can be made of high-strength, low-density aluminum alloy steel plates. While meeting the support strength requirements, the weight of the mechanism is reduced, thereby reducing the load on the adsorption gripper frame 2 and increasing the stability and safety of the mechanism; the guide plate 1.1.3 and the slider 1.1.4 can be made of high-strength, wear-resistant alloy, and are fixed in position with the fixing mechanism 1.1.5, which meets the requirements of flexible production and improves the service life of the mechanism; flexible production design and lightweight design are adopted, and the structural properties of high-strength aluminum alloy and carbon steel are fully utilized. At the same time, the small slider 1.1.4 mechanism is used to make an adjustable working range structure.

[0107] During the application process, the material grabbing module, the clamping assembly, the second cylinder, and the clamping assembly can all be connected to a control module. The control module can control each module to perform corresponding actions in sequence, or the control personnel can control each module to perform corresponding actions through the control module. When the control module controls each module to perform corresponding actions in sequence, the control module can be connected to the sensor or detection element and switch on each component. The sensor or detection element and switch detect whether the corresponding cylinder has performed the corresponding action. After detecting that each device has performed the corresponding action, a signal is sent to the control module. The control module controls the next component to perform the corresponding action based on the received signal. For example, when the pressure plate and the L-shaped liner press the cushioning material, the in-position magnetic switch on the first cylinder can detect that the first cylinder has reached its position. At this time, the control module can control the second cylinder to perform the corresponding action.

[0108] When the handling device of the above embodiment is used to transport glass, it can simultaneously grip the backing paper beneath the glass (i.e., the backing material is the backing paper). Specifically, the backing material gripping module 1 is mounted on the material gripping module, cooperating to grip the glass and backing paper together while flexibly securing the backing paper according to the specifications of the backing paper. After gripping the backing paper, the thin cylinder (i.e., the second cylinder 1.2) regulates the air pressure to keep the backing paper taut to prevent wrinkles and unstable stacking. The linear bearing spring assembly 1.3 ensures that the material gripping module is retracted when gripping the glass to prevent interference with the glass conveying platform. The gripping assembly 1.4, comprising a first cylinder 1.4.1, a second hinged component 1.4.2, an L-shaped backing plate 1.4.4, a pressure plate 1.4.6, and a roller shaft component 1.4.10, is responsible for gripping the backing paper and maintaining it taut after the material gripping module has gripped the glass. A handling device of this structure is used to handle glass. The backing material grabbing module 1 is directly mounted on the material grabbing module. When used together, the suction gripper frame 2 can hold the backing paper as a whole for palletizing and handling while adsorbing the glass through the suction cup. This reduces the process of manually laying the backing paper or the cycle time of the robot grabbing twice. This not only improves production efficiency, but also has a compact structure and effectively reduces the floor space. When used in the 8.5 generation ultra-thin flat glass suction cup gripper device, the backing material grabbing module 1 is an auxiliary clamp mounted on the material grabbing module for holding the backing paper when palletizing the glass. The array clamping components 1.4 are evenly distributed around the gripper frame. While the gripper frame adsorbs the glass, it clamps the backing paper and ensures that it is wrinkle-free, so that the flatness and stability of the palletizing can meet the needs of flexible production.

[0109] The following further describes the working principle and process of using the transport device in the above embodiment as a clamping mechanism for ultra-thin flat glass interlining paper:

[0110] That is, when used as a lining paper clamping mechanism for ultra-thin flat glass, the material is ultra-thin flat glass, the clamping assembly 1.4 is the lining paper clamping assembly, the clamping assembly support beam 1.1.1 is the paper clamping assembly support beam, and the pressing plate 1.4.6 is the paper clamping pressing plate;

[0111] The lining paper clamping assembly can clamp the lining paper for synchronous transfer and stacking after the glass adsorption gripper frame 2 absorbs the glass, ensuring that the glass is separated by flat lining paper during stacking to prevent negative pressure vacuum and prevent separation in the later stage.

[0112] In the above embodiment, the ultra-thin flat glass lining paper clamping mechanism mainly includes a fixed support beam assembly 1.1, a thin cylinder (ie, a second cylinder 1.2), a linear bearing spring assembly 1.3 and a clamping assembly 1.4.

[0113] The fixed support beam assembly 1.1 includes a paper clamping assembly support beam, a tensioning cylinder mounting plate (i.e., a cylinder mounting plate), a guide plate 1.1.3, a slider 1.1.4, and a fixed handle;

[0114] The fixed support beam assembly 1.1 is responsible for directly attaching the clamping mechanism to the gripper frame. After the gripper frame absorbs the ultra-thin flat glass, it then clamps the backing paper, performing handling and palletizing as a whole. Simultaneously, the slider 1.1.4 and guide plate 1.1.3 allow for manual adjustment of the mechanism's operating range, while the fixed handle secures its position. The entire assembly is a flexible production accessory that fits onto the gripper frame.

[0115] The paper clamping assembly support beam and tension cylinder mounting plate are made of high-strength, low-density aluminum alloy steel plates, which reduce the deadweight of the mechanism while meeting the support strength requirements, thereby reducing the load on the gripper frame and increasing the stability and safety of the mechanism;

[0116] The guide plate 1.1.3 and the slider 1.1.4 are made of high-strength, wear-resistant alloy and fixed in position with a fixed handle, which meets the requirements of flexible production and increases the service life of the mechanism.

[0117] The guide plate 1.1.3 is pre-set with a U-shaped sliding groove (i.e., a long strip of slotted opening) and a fixed threaded hole for fixing the handle. The clamping working range can be adjusted according to the specifications of the liner paper on site to ensure the best working range and the clamping and tensioning of the liner paper.

[0118] The fixed support beam assembly 1.1 has a compact design structure and can be directly mounted on the ultra-thin flat glass gripper frame for use, and can also meet the flexible production requirements and the overall strength of the equipment.

[0119] The thin cylinder is mounted on the tensioning cylinder mounting plate, connected by ventral screws, and moves along the guide plate 1.1.3 with the slider and mounting plate. The output end screws of the thin cylinder connect the linear bearing connecting plate and the clamping assembly 1.4, ensuring the flexibility and adjustability of the entire clamping mechanism.

[0120] The input air pressure of the thin cylinder is adjustable. The tension signal from the gripper gripping the ultra-thin flat glass and paper triggers a one-way valve or a two-position, three-way solenoid valve. The air then flows through the pressure regulating valve and into the thin cylinder. The output displacement ensures that the liner paper remains in a tensioned state without breaking.

[0121] The output end face of the thin cylinder is mounted with a linear bearing plate 1.3.2, which cooperates with the diameter bearing spring assembly to meet the multi-directional operation of the clamping assembly 1.4.

[0122] The linear bearing spring assembly 1.3 comprises a guide connecting plate 1.3.1, a linear bearing plate 1.3.2 and a linear bearing (with a spring assembly);

[0123] The linear bearing plate 1.3.2 is mounted on the output end face of the thin cylinder, and the guide connecting plate 1.3.1 fixes the two linear bearings to ensure their synchronous movement. At the same time, it connects the paper clamping liner and the cylinder support plate 1.4.3 to ensure the level and working range of the clamping cylinder.

[0124] The linear bearing (with spring assembly) is installed on the linear bearing plate 1.3.2, and the lower end is fixed with the clamping assembly 1.4 to ensure that the clamping assembly 1.4 has elastic buffering when it contacts the ultra-thin flat glass conveying platform, protecting the normal operation of the mechanism.

[0125] The clamping assembly 1.4 includes a paper clamping cylinder, a fixed hinge assembly, a cylinder support plate 1.4.3, a paper clamping lining plate, a slide plate 1.4.5, a paper clamping pressure plate, a cylinder support connecting plate 1.4.7, a step screw fixing plate 1.4.8, a fulcrum step screw 1.4.9 and a roller shaft assembly;

[0126] The paper clamping cylinder adopts a linear micro cylinder with a hinged connection at one end with a magnetic switch. The fixed end and the output end are both equipped with fixed hinge components. The magnetic switch ensures that the clamping component 1.4 can accurately clamp the liner paper. The hinge structure can well drive the clamping component 1.4 to perform the clamping operation, and the force-bearing performance is good.

[0127] The stroke of the clamping cylinder is fixed, ensuring that the clamping plate is in a horizontal position when the clamping mechanism is open or closed, making it easier to clamp the shirt. In the closed clamping state, the silicone sheet under the clamping plate overlaps with the inclined surface of the clamping liner to prevent the shirt from being torn.

[0128] The paper clamping liner is installed on a linear bearing (with a spring assembly), on which are fixed important clamping working components such as the cylinder support plate 1.4.3, the slide plate 1.4.5, the paper clamping plate, and the step screw fixing plate 1.4.8;

[0129] The slide plate is made of polyvinyl chloride, which has a low friction coefficient and good buffering performance. It cooperates with the roller shaft assembly to achieve smooth work when clamping and tensioning the liner paper.

[0130] The roller shaft assembly is composed of miniature stainless steel deep groove ball bearings as end sliding rollers, and the intermediate bearing connecting rod is made of high-strength carbon steel, one side of which is cut horizontally to play the role of support, guidance, and friction reduction.

[0131] The paper clamping plate is affixed with a silicone sheet, which increases the friction when clamping the liner and prevents the liner from being damaged. When in a closed clamping state, it is horizontal to the paper clamping plate at 30 degrees, making it easy to clamp liner with overhanging edges.

[0132] The clamping assembly is in a closed clamping state as shown in FIG. Figure 4The structure shown;

[0133] The paper clamping assembly is controlled by a magnetic switch and an adjustable air pressure source, has a compact overall structure, and has stable and efficient working performance.

[0134] The ultra-thin glass lining paper clamping mechanism fully utilizes the operating range and stroke of thin and micro cylinders, outputting displacement in two directions to clamp and tension the lining. When the gripper frame is adsorbing the glass, it can clamp the corresponding lining for protection, reducing the energy and space waste associated with dedicated paper laying machines.

[0135] By adopting this handling device, a cushioning material grabbing module is set at the edge of the material grabbing module, so that the cushioning material located under the material can be grabbed at the same time as the material is grabbed, reducing the procedure of manually laying the cushioning material and effectively improving the work rhythm. The entire device has a stable and compact structure, which meets the needs of flexible production and can effectively improve production efficiency.

[0136] In this specification, the present invention has been described with reference to specific embodiments thereof. However, it will be apparent that various modifications and variations may be made without departing from the spirit and scope of the present invention. Accordingly, the specification and drawings are to be regarded as illustrative rather than restrictive.

Claims

1. A transport device, characterized in that: The transport device comprises: Material grabbing module, used to grab materials; A cushion grabbing module is provided at the edge of the material grabbing module and is used to grab the cushion located below the material when the material grabbing module grabs the material. The cushion grabbing module includes an array of clamping assemblies, and the array of clamping assemblies is distributed on both sides of the material grabbing module, and each group of the clamping assemblies is fixed to the edge of the material grabbing module through a corresponding fixed support beam assembly. Each group of the clamping assemblies includes a first cylinder, a cylinder support plate, an L-shaped liner and a pressure plate. The L-shaped lining plate is connected to the corresponding fixed support beam assembly; the first cylinder is fixed to the L-shaped lining plate through the cylinder support plate; the pressure plate is connected to the first cylinder; When the cushioning material needs to be grabbed, the pressing plate is driven by the first cylinder to fit the side of the L-shaped lining plate opposite to the pressing plate, and the pressing plate is inclined relative to the L-shaped lining plate to clamp the cushioning material; When there is no need to grab the cushion, the pressing plate is driven by the first cylinder to not fit into the side of the L-shaped liner opposite to the pressing plate, and the pressing plate is in a horizontal state; The first cylinder is provided with an in-position magnetic switch, the side of the L-shaped lining plate opposite to the pressure plate is an inclined surface, the side of the pressure plate adjacent to the L-shaped lining plate is hinged to the L-shaped lining plate via a first hinge component, and the two ends of the first cylinder are respectively connected to the cylinder support plate and the pressure plate via corresponding second hinge components; A cylinder support connecting plate is further provided in the cylinder support plate at a position between the second hinged component and the L-shaped lining plate, and the height of the top of the second hinged component is higher than the height of the top of the cylinder support connecting plate; The middle section of the first cylinder is mounted on the cylinder support connecting plate; Each of the fixed support beam assemblies includes a cylinder mounting plate, a guide plate, a slider, a fixing mechanism, and a second cylinder; The edge of the material grabbing module is provided with a clamping assembly support beam; The guide plate is provided on the support beam of the clamping assembly, and a long slot is provided on the guide plate. The second cylinder and the slider are respectively located on both sides of the guide plate, and the second cylinder is connected to the slider via the cylinder mounting plate. The second cylinder can move along the slot, and the fixing mechanism is connected to the slider for fixing the position of the second cylinder. The output end surface of the second cylinder is connected to the clamping assembly.

2. The transport device according to claim 1, wherein: A slide plate is also provided at the bottom of the L-shaped lining, a plane of the slide plate and a surface of the L-shaped lining plate opposite to the pressure plate are located at the same horizontal plane; a roller shaft component is also provided at a position adjacent to the first hinge component in the L-shaped lining plate.

3. The transport device according to claim 1, wherein: A silicone sheet is also provided on a side of the pressing plate opposite to the L-shaped lining plate.

4. The transport device according to claim 1, wherein: The output end surface of the second cylinder is connected to the clamping assembly through a linear bearing spring assembly; The linear bearing spring assembly includes a guide connecting plate, a linear bearing plate and a linear bearing with a spring component; The linear bearing plate is connected to the output end face of the second cylinder, one end of the linear bearing with a spring component passes through the linear bearing plate and is connected to the guide connecting plate, and the other end of the linear bearing with a spring component is connected to the clamping assembly.

5. The transport device according to claim 1, wherein: The material grabbing module comprises an adsorption gripper frame, and a predetermined number of suction cups are provided on a side of the adsorption gripper frame adjacent to the material.

Images