Glass rack inserting machine

Abstract

The present invention discloses a glass rack inserting machine, which relates to the technical field of loading equipment; it comprises a workbench, a first loading track and a second loading track which are arranged side by side on the workbench and extend in a first direction, and a manipulator assembly; the first loading track is provided with a loading area, a picking area and a unloading area in sequence along the loading direction; the second loading track is provided with a loading area, a rack inserting area and a unloading area in sequence along the loading direction; a tray loading assembly is provided on the loading area, and an empty tray stacking assembly is provided for unloading; a rack inserting loading assembly is provided in the loading area; a camera assembly which is signal-connected to the manipulator assembly is provided above the picking area and the rack inserting area; the manipulator assembly is supported to vertically insert a glass sheet placed flat on the tray into the inserting rack; the solution provided by the present application solves the technical problems of low loading efficiency of existing glass sheet products and affecting product production quality.

Description

Technical Field

[0001] The invention relates to the technical field of feeding equipment, in particular to a glass rack inserting machine. Background Art

[0002] Some existing glass products, such as mobile phone screens, need to be placed in different processing steps during the processing, such as placing a flat glass plate in a rack. However, most manufacturers use manual rack insertion, which is labor-intensive, has a high risk of product damage, low production efficiency, and a high defect rate. Therefore, there is an urgent need for a glass rack insertion machine that can achieve efficient and automatic loading, reduce the risk of product damage, and achieve high-efficiency and high-quality production. Summary of the invention

[0003] The purpose of the present invention is to provide a glass rack inserting machine, which adopts the technical solution provided by the present invention to solve the technical problems of low feeding efficiency of existing glass sheet products and affecting product production quality.

[0004] In order to solve the above technical problems, the present invention provides a glass rack inserting machine, comprising a workbench, a first feeding track and a second feeding track arranged side by side on the workbench and extending in a first direction, and a manipulator assembly;

[0005] The first loading track is sequentially provided with a loading area, a retrieving area, and a unloading area along the loading direction;

[0006] The second loading track is sequentially provided with a loading area, a rack insertion area, and a unloading area along the loading direction;

[0007] A tray loading assembly is provided on the loading area, and an empty tray stacking assembly is provided on the unloading area;

[0008] The upper shelf area is provided with a rack loading component;

[0009] A camera assembly connected to the robot assembly signal is provided above the material taking area and the rack inserting area;

[0010] The tray loading assembly is used to transfer the tray carrying the glass sheets to the first loading track, the rack loading assembly transfers the rack for loading the glass sheets to the second track, and the manipulator assembly vertically inserts the glass sheets placed flat on the tray into the rack;

[0011] In the above implementation process, a plurality of glass sheets are loaded on the tray, and the glass sheets are all placed horizontally. The tray loaded with glass sheets is loaded from the loading area of ​​the first loading track, and the tray loading assembly is used to orderly transfer the tray to the first loading track, and then moves along the first direction to the material removal area, and then stops at the material removal area;

[0012] The empty rack is transferred to the second loading track by the rack loading assembly, and then stops at the rack loading area after being transferred from the loading area to the rack loading area; then the camera assembly visually recognizes and sends a signal to the robot assembly, which absorbs the glass sheet on the tray and turns it over, and then vertically inserts it into the rack;

[0013] After the camera component recognizes that the glass pieces on the tray have been transferred, the first loading track drives the next tray loaded with glass pieces to move to the material picking area. At this time, the empty tray is transferred to the unloading area along the first direction, and the empty tray stacking component stacks the empty trays in order to facilitate subsequent transfer; after the camera component recognizes that the glass pieces on the rack are loaded, the second loading track drives the next empty rack to transfer to the rack area, and the rack loaded with glass pieces is transferred to the unloading area along the first direction; the technical solution provided by the present application is used to replace the manual rack insertion operation method in the prior art, thereby improving work efficiency, reducing damage to glass pieces, and improving product quality; at the same time, through the cooperation of the camera component and the manipulator component, precise material grabbing and precise insertion are achieved, further improving production efficiency and production quality; the present application adopts a double-track side-by-side design to save production space and reduce the moving path of the manipulator. The material picking area and the insertion area are separated, which further improves production efficiency.

[0014] Preferably, the trays are stacked vertically on the tray loading assembly, and there are gaps between adjacent trays;

[0015] The tray loading assembly comprises

[0016] A first lifting drive group moves back and forth along a second direction and can be supported under the tray;

[0017] A tray mechanism is provided on both sides of the first feeding track and can extend between the two trays and support the tray located above;

[0018] A first clamping mechanism is provided on the first lifting drive group and can be clamped on two opposite sides of the tray;

[0019] Preferably, the first loading track is located on the lifting path of the first lifting drive group, and the first lifting drive group supports the pallet along the second direction and transfers it to the first loading track.

[0020] Preferably, a first in-position sensor connected to the first loading track signal is provided on the material picking area to monitor whether the tray reaches the loading position.

[0021] In the above implementation process, the first lifting drive group lifts upward along the second direction and supports the bottom of the tray, and the tray mechanism retracts to leave the lifting path of the tray, allowing the first lifting drive group to drive the tray to move down smoothly. After moving down to a certain height, the tray mechanism extends between two adjacent layers of trays to support the tray located above. At this time, the first clamping mechanism moves inward to stabilize the tray, and at the same time, the first lifting drive group continues to drive the tray to move down. At this time, the tray located above is supported by the tray mechanism. Therefore, when the tray located below moves further down, the tray separation operation can be realized. When the tray continues to move down to a certain position, the first clamping mechanism The pallet moves away from the pallet and moves further downward as a whole, and falls to the first loading track. At this time, since the first driving group drives the first clamping mechanism to move further downward, the first clamping mechanism is now lower than the surface of the first loading track conveyor line, so the pallet can follow the first loading track and move smoothly to the material picking area; after the first in-position sensor senses the position of the pallet, the conveyor belt stops moving and the pallet stops, and the camera component uses visual recognition and sends a signal to the robot component to achieve precise grasping of the robot component, and transfers the glass pieces on the pallet to the rack one by one until the camera component recognizes that the glass pieces on the pallet have been grasped.

[0022] Preferably, the empty tray stacking assembly comprises tray brackets disposed on both sides of the first track, tray plates pivotally connected to the tray brackets, and a second lifting drive group disposed below the tray;

[0023] The spacing between the tray pieces relatively located on both sides of the first track is smaller than the length of the tray along the third direction;

[0024] The second lifting drive group lifts the tray along the second direction and turns the tray sheet over, and the tray sheet recovers under the action of gravity, and after recovery, the upper surfaces of the plurality of tray sheets are on the same horizontal plane;

[0025] In the above implementation process, after the glass pieces on the pallet are transferred, the conveyor belt is turned on again to continue to move the empty pallet along the first direction to the unloading area. After being moved to the designated position, the second lifting drive group lifts the empty pallet. The pallet piece is located on the lifting path of the empty pallet. Therefore, when the empty pallet rises, it will drive the pallet piece to flip over until the pallet is lifted above the pallet piece. The pallet piece restores to a flat state under the action of its own gravity. At this time, the second lifting drive group drives the pallet to move down and be placed on the flat pallet piece. In this solution, the pallet piece does not need to be additionally provided with a power mechanism to drive its flipping. The lifting process of the empty pallet driven by the second lifting drive and its own flipping mechanism can realize automatic caching of the empty pallet.

[0026] Preferably, the manipulator assembly includes a five-axis manipulator and an adsorption assembly at its driving end;

[0027] The adsorption assembly includes a suction cup for adsorbing glass, a material picking anti-mistake sensor for monitoring the suction cup when picking up material in the material picking area, and a rack insertion anti-mistake sensor for monitoring the suction cup inserting the glass into the rack in the rack insertion area;

[0028] In the above implementation process, the five-axis manipulator drives the adsorption component to rotate freely. It first adsorbs and fixes the glass piece on the tray through the suction cup on the adsorption component. During the adsorption and fixing process, the material picking anti-fool sensor monitors the downward pressure of the suction cup, effectively preventing the glass piece from being damaged due to excessive pressure, thereby ensuring product quality; then the adsorption component is driven to flip, so that the glass piece is in a vertical state and inserted into the rack. During the insertion process, the rack anti-fool sensor monitors the pressing force of the adsorption component when it is inserted. If it is not in place for insertion, the insertion pressure will be too large, and the rack anti-fool sensor will be triggered to alarm, thereby effectively preventing the glass piece from being damaged due to failure to insert the rack smoothly.

[0029] Preferably, the rack loading assembly includes a rack tray for loading the racks, a third lifting drive group for driving the rack tray to move back and forth along a first direction, and a rack pulling drive group for pulling the racks on the rack tray along the first direction to the second loading track;

[0030] In the above implementation process, after the third lifting drive group lifts the material rack tray and moves it to the specified position along the first direction, the pulling rack drive group moves the empty rack from the material rack tray to the second loading track.

[0031] Preferably, the material rack tray is divided into several layers along the second direction, and a stopper is provided on each layer of the material rack tray close to the second loading track; an unlocking drive group is provided on the side of the material rack tray;

[0032] The stopper is pivotally connected to the rack tray, a first end of which abuts against the side of the inserting rack and restricts its movement toward the second track, and a second end is close to the unlocking drive group; a torsion spring is provided at the pivot of the stopper;

[0033] The unlocking drive group pushes the second end of the block along the third direction and drives the block to rotate along its pivot, thereby releasing the restriction of the first end of the block on the plug-in rack;

[0034] In the above implementation process, the material rack tray is divided into multiple layers, so that multiple groups of empty racks can be cached therein, and a block is provided on each layer of the material rack tray, so the position of the rack on the material rack tray can be effectively limited to prevent it from leaving the supporting range of the material rack tray, and at the same time, the poor placement of the rack can be prevented from causing damage to the equipment due to jamming during the lifting process; therefore, when the third lifting drive group drives the material rack tray to lift and lower, the block limits the position of the rack; when the material rack tray reaches the specified position, when the rack needs to be transferred to the second loading rail, the unlocking drive group pushes the second end of the block, and the block is pivotally connected to the material rack tray, so it drives the block to rotate so that the first end of the block is away from the side of the rack, and there is no obstacle on the side of the rack close to the second loading rail, and the rack pulling drive group can bring the rack to the second loading rail.

[0035] Preferably, a second clamping mechanism is provided on both sides of the second feeding track in the rack area; the second clamping mechanism clamps and fixes the rack along the third direction;

[0036] Preferably, a second in-position sensor connected to the second loading track signal is provided on the insertion rack area to detect whether the insertion rack reaches the insertion position;

[0037] In the above implementation process, the rack and the second loading track are moved along the first direction. When the second in-place sensor detects that the rack is in place, the conveyor belt of the second loading track stops, thereby stopping the rack from moving. The camera component obtains the position of the rack and sends a signal to the manipulator component. The second clamping mechanism clamps and fixes the rack from both sides of the rack. The manipulator component inserts the glass sheets on the rack one by one until the camera component detects that the rack is full of glass sheets. The second clamping mechanism effectively prevents the rack from shaking during the insertion of glass sheets, thereby ensuring the smooth insertion process and improving the insertion accuracy.

[0038] Compared with the prior art, the beneficial effects of the present invention are: the glass rack insertion machine provided in the present application realizes a fully automatic glass rack insertion method, replacing the existing manual rack insertion method, improving work efficiency, reducing labor costs, reducing damage to products, and improving product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0040] Figure 1 It is a schematic diagram of the overall structure of one embodiment of the present application;

[0041] Figure 2 It is a schematic diagram of the internal structure of one embodiment of the present application;

[0042] Figure 3 This is a schematic diagram of the structural distribution of the first feeding track in one embodiment of the present application;

[0043] Figure 4 It is a partial structural schematic diagram of one embodiment of the present application;

[0044] Figure 5 It is a schematic diagram of a tray mechanism of one embodiment of the present application;

[0045] Figure 6 This is a schematic structural diagram of an empty tray stacking assembly according to one embodiment of the present application;

[0046] Figure 7 This is a structural schematic diagram of a rack loading assembly in one embodiment of the present application;

[0047] Figure 8 It is a partial structural schematic diagram of one embodiment of the present application;

[0048] Fig. 9 This is a schematic diagram of the structure of the second feeding track in one embodiment of the present application;

[0049] Fig.10 It is a structural schematic diagram of a manipulator assembly according to one embodiment of the present application;

[0050] Fig.11 yes Fig.10 A schematic diagram of the structure of part A in the middle

[0051] Fig.12 It is a structural schematic diagram of an adsorption component of one embodiment of the present application;

[0052] Among them: 10, workbench; 11, first loading track; 111, loading area; 112, material taking area; 113, unloading area; 114, first conveyor belt; 115, first light source group; 116, first in-position sensor; 12, second material track; 121, shelf loading area; 122, shelf insertion area; 123, unloading area; 124, second clamping mechanism; 125, second light source group; 126, second in-position sensor; 20, tray loading assembly; 21, first lifting drive group; 211, closed-loop motor; 212, coupling; 213, screw assembly; 214, first fixed plate; 215, first lifting plate; 216, connecting plate; 22, tray mechanism; 221, insert; 222, tray driving cylinder; 223, tray top block; 224, first slide rail; 225, tray in-position sensor; 226, tray in-position sensor; 227, slide plate; 228, bracket; 23, first clamping mechanism; 231, tray clamp; 232, clip drive group; 30, empty tray stacking assembly; 31, second lifting drive group; 32, tray bracket; 33, tray sheet; 34, empty tray in place sensor; 40, rack loading assembly; 41, second fixed plate; 42, third lifting drive group; 43, rack tray; 44, rack drive group; 45, unlocking drive group; 46, stopper; 46a, first end; 46b, second end; 461, torsion spring; 50, manipulator assembly; 51, five-axis manipulator; 52, adsorption assembly; 52a, adsorption state; 52b, material insertion state; 521, third fixed plate; 522, first slider; 523, suction cup; 524, calibration rod; 525, first spring; 526, material picking anti-mistake sensor; 5261, first induction sheet; 527, second slider; 528, second spring; 529, rack anti-mistake sensor; 5291, second induction sheet; 53, support frame; 60, camera assembly; 70, limit plate; 80, outer shell; 81, display screen; 82, control panel;

[0053] C1, first direction; C2, second direction; C3, third direction. DETAILED DESCRIPTION

[0054] The following will disclose multiple embodiments of the present invention with drawings. For the purpose of clear description, many practical details will be described together in the following description. However, it should be understood that these practical details should not be used to limit the present invention. That is, in some embodiments of the present invention, these practical details are not necessary. In addition, for the purpose of simplifying the drawings, some conventional structures and components will be depicted in a simple schematic manner in the drawings.

[0055] It should be noted that all directional indications such as up, down, left, right, front, back, etc. in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture as shown in the accompanying drawings. If the specific posture changes, the directional indication will also change accordingly.

[0056] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0057] In order to further understand the content, features and effects of the present invention, the following embodiments are given as examples and described in detail with reference to the accompanying drawings:

[0058] Example

[0059] Some existing glass products, such as mobile phone screens, need to be placed in different processing steps during the processing, such as placing a flat glass plate in a rack. However, most manufacturers use manual rack insertion, which is labor-intensive, has a high risk of product damage, low production efficiency, and a high defect rate. Therefore, there is an urgent need for a glass rack insertion machine to achieve efficient automatic loading, reduce the risk of product damage, and achieve high-efficiency and high-quality production. In order to solve this technical problem, this embodiment provides the following technical solutions:

[0060] For details, see Figure 1-12 , this embodiment provides a glass rack inserting machine, including a workbench 10, a first loading track 11 and a second loading track 11 and 12 arranged side by side on the workbench 10 and extending along a first direction, and a manipulator assembly 50;

[0061] Specifically, the first loading track 11 is sequentially provided with a loading area 111, a taking area 112, and a unloading area 113 along the loading direction;

[0062] Specifically, the second loading track is sequentially provided with a loading area 121, a rack insertion area 122, and a unloading area 123 along the loading direction;

[0063] Specifically, a tray loading assembly 20 is provided on the loading area 111, and an empty tray stacking assembly 30 is provided for unloading;

[0064] Specifically, the rack loading area 121 is provided with a rack loading assembly 40;

[0065] Specifically, a camera assembly 60 connected to the robot assembly 50 by signal is provided above the material taking area 112 and the rack inserting area 122;

[0066] The tray loading assembly 20 is used to transfer the tray carrying the glass sheets to the first loading track 11, the rack loading assembly 40 transfers the rack for loading the glass sheets to the second track, and the manipulator assembly 50 vertically inserts the glass sheets placed flat on the tray into the rack;

[0067] Specifically, the pallets are stacked vertically on the pallet loading assembly 20, and there are gaps between adjacent pallets;

[0068] Furthermore, the tray loading assembly 20 includes a first lifting drive group 21, a tray mechanism 22, and a first clamping mechanism 23;

[0069] Specifically, the first lifting drive group 21 moves back and forth along the second direction and can be supported under the tray;

[0070] Specifically, the tray mechanism 22 is disposed on both sides of the first loading track 11, and can extend between the two trays and support the tray located above;

[0071] Specifically, the first clamping mechanism 23 is disposed on the first lifting drive group 21 and can be clamped on two opposite sides of the tray;

[0072] Specifically, the first loading track 11 is located on the lifting path of the first lifting drive group 21, and the first lifting drive group 21 supports the tray along the second direction and transfers it to the first loading track 11;

[0073] Furthermore, a first in-position sensor 116 connected to the first loading track 11 by signal is provided on the material taking area 112 to monitor whether the tray reaches the loading position;

[0074] In the above scheme, the first lifting drive group 21 is lifted upward along the second direction and supported under the tray, and the tray mechanism 22 retracts to leave the lifting path of the tray, so that the first lifting drive group 21 drives the tray to move down smoothly. After moving down to a certain height, the tray mechanism 22 extends between two adjacent layers of trays to support the tray located on the upper side. At this time, the first clamping mechanism 23 moves inward to stabilize the tray, and at the same time, the first lifting drive group 21 continues to drive the tray to move down. At this time, the tray located on the upper side is supported by the tray mechanism 22. Therefore, when the tray located below moves further down, the tray separation operation can be realized. When the tray continues to move down to a certain position, the first clamping mechanism 23 moves away from the tray and The whole body moves further downward, and the pallet falls to the first loading track 11. At this time, since the first driving group drives the first clamping mechanism 23 to move further downward, the first clamping mechanism 23 is now lower than the conveyor line surface of the first loading track 11, so the pallet can follow the first loading track 11 and move smoothly to the material picking area 112; after the first in-position sensor 116 senses the position of the pallet, the conveyor belt stops moving and the pallet stops, and the camera component 60 uses visual recognition and sends a signal to the manipulator component 50 to achieve precise grasping of the manipulator component 50, and transfers the glass pieces on the pallet to the rack one by one until the camera component 60 recognizes that the glass pieces on the pallet have been grasped.

[0075] Specifically, the first loading track 11 and the second loading track are both provided with driving rollers, conveyor belts and transmission motors. This scheme is a relatively existing transmission method, so this application will not go into details here.

[0076] For details, see Figure 1 An outer shell 80 is framed on the workbench 10 to protect the various mechanisms on the workbench 10 ; a display screen 81 and a control panel 82 are provided on the outer shell 80 , and the control panel 82 is a hideable foldable control panel 82 ; and the camera assembly 60 is arranged on the inner wall of the outer shell 80 .

[0077] For details, see Figure 4 The first lifting drive group 21 includes a closed-loop motor 211, a coupling 212, a screw, a connecting plate 216, a first fixed plate 214, and a first lifting plate 215; the coupling 212 is arranged between the closed-loop motor 211 and the screw and is connected to the driving end of the closed-loop motor 211; a guide rod group is provided on the connecting plate 216 and passes through the first fixed plate 214 and is fixedly connected to the first lifting plate 215, and the screw is fixedly connected to the connecting plate 216. The closed-loop motor 211 drives the screw to rotate and drive the connecting plate 216 to rise and fall. The connecting plate 216 drives the first lifting plate 215 to rise and fall through the guide rod group, thereby enabling the tray placed on the first lifting plate 215 to be lifted and lowered.

[0078] Specifically, the first clamping mechanism 23 is disposed on two opposite sides of the first lifting plate 215, and includes a clamping piece driving group 232 fixedly disposed on the first lifting plate 215, and a disc-dividing clamping piece 231 disposed at a driving end of the clamping piece driving group 232;

[0079] Furthermore, the upper end of the tray-dividing clamping piece 231 is arc-shaped and moves closer to one side for clamping; the clamping piece driving group 232 drives the tray-dividing clamping piece 231 to close or separate along the second direction, thereby clamping or releasing the tray.

[0080] For details, see Figure 5 The tray mechanism 22 includes a bracket 228, a tray driving cylinder 222, a tray top block 223, an insert 221, a first slide rail 224, a slide plate 227, a material tray in place sensor 226, and a tray in place sensor 225;

[0081] The bracket 228 is fixedly arranged on the workbench 10, the first slide rail 224 is extended along the third direction and arranged on the bracket 228, the slide plate 227 is slidably arranged on the slide rail, the tray driving cylinder 222 and the insert 221 are both arranged on the slide plate 227, and the tray top block 223 is arranged at the driving end of the tray driving cylinder 222 and is fixedly connected to the bracket 228;

[0082] In the above scheme, the tray driving cylinder 222 and the tray top block 223 are the force application points, which slide back and forth along the third direction. During the sliding process, the insert 221 also located on the slide plate 227 is driven to slide along the third direction, so that the insert 221 can extend into or away from between the trays.

[0083] Specifically, the tray in place sensor 226 is provided on the bracket 228, and is used to monitor the position of the tray. When the tray in place sensor 226 detects that the tray has reached the specified position, the first lifting drive group 21 and the tray mechanism 22 start the above operation;

[0084] Specifically, the tray placement sensor 225 is used to monitor whether the first clamping mechanism 23 is clamped in place.

[0085] Specifically, a first light source group 115 is provided below the loading area 111 of the first loading track 11. When the tray reaches the loading area 111, the first light source group 115 is turned on, thereby making the overall field of view brighter and facilitating the camera assembly 60 to obtain image information;

[0086] For details, see Figure 6 The empty tray stacking assembly 30 includes tray brackets 32 disposed on both sides of the first track, a tray sheet 33 pivotally connected to the tray brackets 32, and a second lifting drive group 31 disposed below the tray;

[0087] The distance between the tray pieces 33 located on both sides of the first track is smaller than the length of the tray along the third direction;

[0088] The second lifting drive group 31 lifts the tray in the second direction and turns the tray sheet 33 over, and the tray sheet 33 recovers under the action of gravity, and after recovery, the upper surfaces of the tray sheets 33 are in the same horizontal plane;

[0089] In the above scheme, after the glass pieces on the tray are transferred, the conveyor belt is turned on again to continue to move the empty tray along the first direction to the unloading area 113. After being transferred to the designated position, the second lifting drive group 31 lifts the empty tray. The tray piece 33 is located on the lifting path of the empty tray. Therefore, when the empty tray rises, it drives the tray piece 33 to flip over until the tray is lifted above the tray piece 33. The tray piece 33 restores to a straight state under the action of its own gravity. At this time, the second lifting drive group 31 drives the tray to move down and be placed on the straight tray piece 33. In this scheme, the tray piece 33 does not need to be additionally provided with a power mechanism to drive its flipping. The lifting process of the empty tray driven by the second lifting drive and its own flipping mechanism are used to realize automatic caching of the empty tray.

[0090] Furthermore, the empty tray stacking assembly 30 also includes an empty tray arrival sensor 34. When the empty tray reaches the designated position, the empty tray arrival sensor 34 detects the empty tray position and sends a signal, and the empty tray stacking assembly 30 starts the above operation.

[0091] For details, see Figure 7 The rack loading assembly 40 includes a rack tray 43 for loading racks, a third lifting drive group 42 for driving the rack tray 43 to move back and forth along a first direction, and a rack pulling drive group 44 for pulling the rack on the rack tray 43 along the first direction to the second loading track;

[0092] In the above scheme, after the third lifting drive group 42 lifts the rack tray 43 and moves it to the designated position along the first direction, the rack pulling drive group 44 moves the empty rack from the rack tray 43 to the second loading track;

[0093] For details, see Figure 7-8 The rack tray 43 is divided into several layers along the second direction, and a stopper 46 is provided on each layer of the rack tray 43 near the second loading track; an unlocking drive group 45 is provided on the side of the rack tray 43

[0094] Furthermore, the stopper 46 is pivotally connected to the rack tray 43, and its first end 46a abuts against the side of the rack and restricts its movement toward the second track, and the second end 46b is close to the unlocking drive group 45; a torsion spring 461 is provided at the pivot of the stopper 46;

[0095] The unlocking drive group 45 pushes the second end 46b of the stopper 46 along the third direction and drives the stopper 46 to rotate along its pivot, thereby releasing the restriction of the first end 46a of the stopper 46 on the plug-in rack.

[0096] In the above scheme, the material rack tray 43 is divided into multiple layers, so that multiple groups of empty racks can be cached therein, and each layer of the material rack tray 43 is provided with a stopper 46, so that the position of the rack on the material rack tray 43 can be effectively limited to prevent it from leaving the supporting range of the material rack tray 43, and at the same time prevent the rack from being stuck in the lifting process due to poor placement of the rack and causing damage to the equipment; therefore, when the third lifting drive group 42 drives the material rack tray 43 to rise and fall, the stopper 46 limits the position of the rack; when the material rack tray 43 reaches the specified position, when the rack needs to be transferred to the second loading track, the unlocking drive group 45 pushes the second end 46b of the stopper 46, and the stopper 46 It is pivotally connected to the rack tray 43, so it drives the stopper 46 to rotate so that the first end 46a of the stopper 46 is away from the side of the rack, and there is no obstacle on the side of the rack close to the second loading track. The pulling rack drive group 44 can bring the rack to the second loading track; when the unlocking drive group 45 is away from the second end 46b of the stopper 46, the stopper 46 is reset under the elastic force of the torsion spring 461, forming a limiting effect again.

[0097] Specifically, a second light source group 125 is provided below the rack area 122 of the second loading track. When the second in-position sensor 126 detects that an empty rack is transferred to the rack area 122, the second light source group 125 is turned on to brighten the field of vision around the empty rack, making it convenient for the camera component 60 to obtain rack image information and improve insertion accuracy.

[0098] For details, see Fig. 9 A second clamping mechanism 124 is provided on both sides of the second feeding track in the rack area 122; the second clamping mechanism 124 clamps and fixes the rack along the third direction;

[0099] Specifically, a second in-position sensor 126 connected to the second loading track signal is provided on the rack insertion area 122 to detect whether the rack has reached the insertion position;

[0100] In the above scheme, the rack is moved along the first direction on the second loading track. When the second in-place sensor 126 detects that the rack is in place, the conveyor belt of the second loading track stops, thereby stopping the rack from moving. The camera component 60 obtains the position of the rack and sends a signal to the robot component 50. The second clamping mechanism 124 clamps and fixes the rack from both sides. The robot component 50 inserts the glass pieces on the rack one by one until the camera component 60 detects that the rack is full of glass pieces. The second clamping mechanism 124 effectively prevents the rack from shaking during the insertion of glass pieces, thereby ensuring the smooth insertion process and improving the insertion accuracy.

[0101] For details, see Figure 10-12 , the manipulator assembly 50 includes a five-axis manipulator 51 and an adsorption assembly 52 at its driving end;

[0102] Specifically, the adsorption component 52 includes a suction cup 523 for adsorbing glass, a sensor 526 for monitoring the suction cup 523 when taking material in the material taking area 112, and a sensor 529 for monitoring the suction cup 523 when inserting the glass into the material rack in the rack inserting area 122;

[0103] For further information, see Fig.12 The adsorption assembly 52 includes a third fixed plate 521, a first slider 522, a first spring 525, a first sensing sheet 5261 cooperating with a material picking anti-mistake sensor 526; and a second slider 527, a second spring 528, and a second sensing sheet 5291 cooperating with a rack anti-mistake sensor 529;

[0104] In the above scheme, when the suction cup 523 adsorbs the glass sheet on the tray, as it is adsorbed and pressed on the glass sheet, the first slider 522 slides on the third fixed plate 521 and compresses the first spring 525, and the first sensor sheet 5261 senses the degree of compression of the spring, effectively preventing the glass sheet from being damaged due to excessive pressure, thereby ensuring product quality; then the adsorption component 52 is driven to flip, so that the glass sheet is in a vertical state and inserted into the rack. During the insertion process, if it is blocked, the second slider 527 slides and compresses the second spring 528, and the second sensor sheet 5291 senses the degree of compression of the second spring 528. The rack anti-fool sensor 529 monitors the pressing force of the adsorption component 52 when it is inserted. When it is not in place for insertion, the insertion pressing force will be too large, and the rack anti-fool sensor 529 will be triggered to alarm, thereby effectively preventing the glass sheet from being damaged due to failure to insert the rack smoothly.

[0105] Furthermore, it also includes a calibration rod 524 detachably disposed on the adsorption assembly 52, which is used to calibrate the position between the adsorption assembly 52 and the camera assembly 60 before use, so as to ensure the accuracy of the subsequent displacement process;

[0106] For details, see Fig.11 , Fig.11 Two states of the adsorption component 52 are shown in the figure, one of which is a state in which a horizontally placed glass sheet is adsorbed, and the other is a state in which the glass sheet is flipped over after adsorption and inserted into a rack.

[0107] Specifically, the manipulator assembly 50 is fixed on a support frame 53, which is mounted above the second track. The insertion rack can pass through the support frame 53 to enter the lower shelf area 123; this method further compresses the internal space and makes the overall structure more compact.

[0108] Specifically, the first loading track 11 and the second loading track are both provided with driving rollers, conveyor belts and transmission motors. This scheme is a relatively existing transmission method, so this application will not go into details here.

[0109] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0110] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are within the scope of the technical solution of the present invention.

Claims

1. A glass rack inserting machine, characterized in that: It includes a workbench, a first feeding track and a second feeding track arranged side by side on the workbench and extending in a first direction, and a manipulator assembly; The first loading track is sequentially provided with a loading area, a retrieving area, and a unloading area along the loading direction; The second loading track is sequentially provided with a loading area, a rack insertion area, and a unloading area along the loading direction; A tray loading assembly is provided on the loading area, and an empty tray stacking assembly is provided on the unloading area; The upper shelf area is provided with a rack loading component; A camera assembly connected to the robot assembly signal is provided above the material taking area and the rack inserting area; The tray loading assembly is used to transfer the tray carrying the glass sheets to the first loading track, the rack loading assembly transfers the rack for loading the glass sheets to the second loading track, and the manipulator assembly allows the glass sheets placed flat on the tray to be vertically inserted into the rack; The rack loading assembly includes a rack tray for loading racks, a third lifting drive group for driving the rack tray to move back and forth along a first direction, and a rack pulling drive group for pulling the rack on the rack tray along the first direction to the second loading track; The material rack tray is divided into a plurality of layers along the second direction, and a stopper is provided on each layer of the material rack tray close to the second loading track; an unlocking drive assembly is provided on the side of the material rack tray; The stopper is pivotally connected to the rack tray, a first end of which abuts against the side of the inserting rack and restricts its movement toward the second loading track, and a second end is close to the unlocking drive assembly; a torsion spring is provided at the pivot of the stopper; The unlocking drive assembly pushes the second end of the block along the third direction and drives the block to rotate along its pivot, thereby releasing the restriction of the first end of the block on the plug-in rack; A second clamping mechanism is provided on both sides of the second feeding track in the insertion rack area; the second clamping mechanism clamps and fixes the insertion rack along a third direction.

2. The glass rack inserting machine according to claim 1, characterized in that: The trays are stacked vertically on the tray loading assembly, and there are intervals between adjacent trays; The tray loading assembly includes a first lifting drive assembly, which moves back and forth along the second direction and can be supported under the tray; A tray mechanism is provided on both sides of the first feeding track and can extend between the two trays and support the tray located above; The first clamping mechanism is arranged on the first lifting drive assembly and can be clamped on two opposite sides of the tray.

3. The glass rack inserting machine according to claim 2, characterized in that: The first loading track is located on the lifting path of the first lifting drive assembly, and the first lifting drive assembly supports the tray along the second direction and transfers it to the first loading track.

4. The glass rack inserting machine according to claim 2, characterized in that: A first in-position sensor connected to the first loading track signal is provided on the material picking area to monitor whether the tray reaches the loading position.

5. The glass rack inserting machine according to claim 1, characterized in that: The empty tray stacking assembly includes tray brackets disposed on both sides of the first feeding track, tray plates pivotally connected to the tray brackets, and a second lifting drive assembly disposed below the tray; The spacing between the tray pieces relatively located on both sides of the first feeding track is smaller than the length of the tray along the third direction; The second lifting drive assembly lifts the tray along the second direction and turns the tray piece over, and the tray piece recovers under the action of gravity, and after recovery, the upper surfaces of the plurality of tray pieces are in the same horizontal plane.

6. The glass rack inserting machine according to claim 1, characterized in that: The manipulator assembly includes a five-axis manipulator and an adsorption assembly at its driving end; The adsorption component includes a suction cup for adsorbing glass, a material picking anti-mistake sensor for monitoring the suction cup when picking up material in the material picking area, and a rack insertion anti-mistake sensor for monitoring the suction cup when inserting the glass into the rack in the rack insertion area.

7. The glass rack inserting machine according to claim 1, characterized in that: A second in-position sensor connected to the second loading track signal is provided on the rack insertion area to detect whether the rack reaches the insertion position.

Images