Glass down-conveyor

Abstract

The present invention relates to a glass unloading machine, comprising a base, a moving mechanism and a picking mechanism, wherein the moving mechanism comprises a first linear module, a first support rod, a second linear module, and a second support rod, and the picking mechanism is rotatably connected to one end of the second linear module for picking up glass. The first support rod slides on the first linear module, thereby causing the first linear module to rotate around a first position. At the same time, when the picking mechanism is loaded, the first support rod can support the first linear module, thereby reducing the force on the first linear module and enhancing the load-bearing capacity and service life of the first linear module; one end of the second support slides on the second linear module, thereby causing the second linear module to swing up and down, facilitating the picking up and placement of glass; at the same time, the second support rod can support the second linear module, thereby reducing the force on the second linear module and enhancing the load-bearing capacity and service life of the second linear module.

Description

Technical Field

[0001] The present invention relates to the technical field of glass production, in particular to a glass unloading machine. Background Art

[0002] Automated production lines for flat glass typically operate in a vertical configuration, with the glass resting at an angle against the backplate of the production line's conveyor mechanism. Driven by the conveyor, the glass passes through each production process. Once all processing steps are complete, the glass is removed from the backplate and placed on a glass storage rack – a process known as unloading. The storage rack is typically positioned opposite the production line, with the angle of the glass on the backplate equal and opposite to that on the storage rack.

[0003] The transmission mechanism of the glass unloader in the prior art includes a vertical moving mechanism and a horizontal moving mechanism. The disadvantage is that when the beam of the horizontal moving mechanism is extended, most of the length of the beam is in a suspended position, causing the force on the transmission connection of the beam to increase sharply. Therefore, the load-bearing capacity of this type of unloader is not strong and the service life is also limited. Summary of the Invention

[0004] Based on this, it is necessary to propose a glass unloader to address the problem that the glass unloader in the prior art has a weak bearing capacity.

[0005] A glass unloader, comprising:

[0006] A base, wherein the base has a first position, a second position, and a third position arranged in sequence;

[0007] The moving mechanism includes: a first linear module, a first support rod, a second linear module, and a second support rod, one end of the first linear module is rotatably connected to a first position on the base, and the other end of the first linear module is rotatably connected to the second linear module; one end of the first support rod is rotatably connected to a second position on the base, the other end of the first support rod is rotatably connected to the first linear module, and can slide along the length direction of the first linear module under the drive of the first linear module, one end of the second support rod is rotatably connected to a third position on the base, the other end of the second support rod is rotatably connected to the second linear module, and can slide along the length direction of the second linear module under the drive of the second linear module; and

[0008] The picking mechanism is rotatably connected to an end of the second linear module away from the first linear module, and the picking mechanism is used to pick up glass.

[0009] In one embodiment, the first linear module and the second linear module both include a motor, a screw and a sliding support, one end of the screw is connected to the motor, the sliding support is arranged on the screw, and the sliding support is engaged with the screw thread, the other end of the first support rod is rotatably connected to the sliding support of the first linear module, and the other end of the second support rod is rotatably connected to the sliding support of the second linear module.

[0010] In one embodiment, the picking mechanism includes a flip bracket, and the flip bracket includes:

[0011] A flip plate having a fourth position and a fifth position at different heights, wherein an end of the second linear module away from the first linear module is rotatably connected to the fifth position of the flip plate; and

[0012] The telescopic component has one end rotatably connected to the second linear module and the other end connected to the fourth position of the flip plate.

[0013] In one embodiment, the picking mechanism further comprises:

[0014] a suction cup bracket connected to the flip bracket and arranged on a side of the flip bracket away from the moving mechanism; and

[0015] A plurality of suction cups are arranged on the suction cup bracket and are located on a side of the suction cup bracket away from the flip bracket.

[0016] In one embodiment, the picking mechanism further comprises:

[0017] a panel, the panel being arranged on a side of the suction cup bracket away from the flip bracket, the panel being provided with a plurality of through holes, the plurality of through holes corresponding one-to-one to the plurality of suction cups respectively;

[0018] a push rod, one end of which is rotatably connected to the suction cup bracket, and the other end of which is rotatably connected to the panel;

[0019] A pushing member has one end connected to the suction cup bracket and the other end connected to the panel; when the pushing member pushes the panel to move, the through hole on the panel can allow the corresponding suction cup to pass through.

[0020] In one embodiment, the panel is provided with a plurality of rollers for conveying glass.

[0021] In one of the embodiments, a buffer is provided on the flip plate, and the buffer is used to reduce vibration of the suction cup bracket along the length direction and the thickness direction of the suction cup bracket respectively.

[0022] In one embodiment, the glass unloader further includes a hook assembly, and the hook assembly includes:

[0023] Hook shot;

[0024] a driving member rotatably connected to a side of the picking mechanism close to the moving mechanism; and

[0025] A connecting rod assembly, one end of which is rotatably connected to the driving member and the other end of which is connected to the hook;

[0026] The driving member is used to drive the connecting rod assembly to move, so that the connecting rod assembly drives the hook to switch between a release position and a support position; wherein, the hook is located at the bottom of the picking mechanism when it is in the support position, and is located on the side of the picking mechanism close to the moving mechanism when it is in the release position.

[0027] In one embodiment, the connecting rod assembly includes:

[0028] a first connecting rod, one end of the first connecting rod being hinged to the picking mechanism, and a middle portion of the first connecting rod being hinged to the driving member;

[0029] a second connecting rod, one end of the second connecting rod being hinged to the other end of the first connecting rod;

[0030] The third connecting rod is a T-shaped structure. The third connecting rod includes a first rod segment, a second rod segment and a third rod segment. The first rod segment is hinged to the other end of the second connecting rod, the second rod segment is hinged to the picking mechanism and is spaced apart from the first connecting rod along the height direction of the picking mechanism. A shock-absorbing sleeve is provided on the third rod segment. The third rod segment serves as the hook. The distance from the position where the second rod segment is hinged to the picking mechanism to the bottom of the picking mechanism is equal to the length of the second rod segment.

[0031] In one embodiment, one end of the first linear module rotatably connected to the base has a downward extending end, and the moving mechanism further includes a counterweight box connected to the bottom of the extending end.

[0032] The above-mentioned glass unloading machine is provided with a first support rod and a first linear module. The first support rod slides on the first linear module, so that the first linear module rotates around the first position. At the same time, when the picking mechanism is loaded, the first support rod can support the first linear module, thereby reducing the force on the first linear module and increasing the service life of the first linear module. By providing a second support rod and a second linear module, one end of the second support rod slides on the second linear module, so that the second linear module can swing up and down, which is convenient for picking up and placing glass. At the same time, the second support rod can support the second linear module, thereby reducing the force on the second linear module and increasing the service life of the second linear module. In addition, in the moving mechanism, the first linear module and the second linear module can, on the one hand, be used as connecting arms to connect the picking mechanism to the base. On the other hand, the two can realize mutual rotation and coordination through their own driving force to realize the position movement of the picking mechanism. It can be seen that the first linear module and the second linear module combine the connecting arm and the driving mechanism into one, and no additional connecting arm or driving mechanism is required, thereby making the glass unloader structure simple and compact. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 Schematic diagram of the structure of a glass unloader in one embodiment;

[0034] Figure 2 This is a structural diagram of a picking mechanism in one embodiment;

[0035] Figure 3 A diagram showing the positional relationship among a glass unloader, a production line, and a storage rack in one embodiment;

[0036] Figure 4 This is a schematic structural diagram of a buffer member in one embodiment;

[0037] Figure 5 A schematic diagram of a stopper mechanism in one embodiment;

[0038] Reference numerals:

[0039] 310 - spring buffer assembly; 311 - stopper; 3111 - through hole; 312 - limit rod; 313 - spring; 320 - movable plate assembly; 321 - first connecting rod; 322 - second connecting rod; 323 - first limit plate; 324 - second limit plate; 330 - connecting plate;

[0040] 500-base;

[0041] 600-moving mechanism; 610-first linear module; 611-motor; 612-screw; 613-sliding support; 620-first support rod; 630-second linear module; 640-second support rod; 650-counterweight box;

[0042] 700 - Pickup mechanism; 710 - Flip plate; 720 - Telescopic assembly; 730 - Suction cup bracket; 731 - Suction cup; 750 - Push rod; 760 - Panel; 761 - Through hole; 762 - Roller; 770 - Push member;

[0043] 800 - hook assembly; 810 - connecting rod assembly; 811 - first connecting rod; 812 - second connecting rod; 813 - third connecting rod; 8131 - first rod segment; 8132 - second rod segment; 8133 - third rod segment; 820 - driving member;

[0044] 910-back panel; 920-production line; 930-storage rack; 940-glass. DETAILED DESCRIPTION

[0045] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0046] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0047] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0048] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0049] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0050] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0051] See Figure 1 and Figure 3 An embodiment of the present invention provides a glass unloading machine, including a base 500, a moving mechanism 600 and a picking mechanism 700.

[0052] The base 500 has a first position P1 , a second position P2 , and a third position P3 arranged in sequence; wherein the first position P1 , the second position P2 , and the third position P3 are located on the same cross section of the base 500 .

[0053] The moving mechanism 600 includes a first linear module 610, a first support rod 620, a second linear module 630, and a second support rod 640. One end of the first linear module 610 is rotatably connected to a first position P1 on the base 500, and the other end of the first linear module 610 is rotatably connected to the second linear module 630. One end of the first support rod 620 is rotatably connected to a second position P2 on the base 500, and the other end of the first support rod 620 is rotatably connected to the first linear module 610 and can slide along the length of the first linear module 610 under the drive of the first linear module 610. In other words, the first linear module 610 rotates around the first position P1 by sliding the first support rod 620 on the first linear module 610.

[0054] One end of the second support rod 640 is rotatably connected to the third position P3 on the base 500. The other end of the second support rod 640 is rotatably connected to the second linear module 630 and can slide along the length of the second linear module 630 under the drive of the second linear module 630. In other words, the sliding of the other end of the second support rod 640 on the second linear module 630 causes the second linear module 630 to rotate relative to the first linear module 610, thereby allowing the end of the second linear module 630 away from the first linear module 610 to swing up and down.

[0055] The picking mechanism 700 is rotatably connected to the end of the second linear module 630 away from the first linear module 610 , that is, the picking mechanism 700 can rotate relative to the end of the second linear module 630 away from the first linear module 610 , thereby facilitating the picking mechanism 700 to pick up and place the glass 940 .

[0056] In this embodiment, the first linear module 610 and the second linear module 630 in the moving mechanism can, on the one hand, serve as connecting arms to connect the pickup mechanism 700 to the base 500. On the other hand, the first linear module 610 and the second linear module 630 can rotate with each other through their own driving force to achieve the position movement of the pickup mechanism 700. As can be seen, the first linear module 610 and the second linear module 630 combine the connecting arm and the driving mechanism into one, eliminating the need for additional connecting arms or driving mechanisms, thereby making the glass unloader structure simple and compact.

[0057] In this embodiment, the first position P1 , the second position P2 and the third position P3 are sequentially arranged along the direction from the moving mechanism 600 to the picking mechanism 700 . The first position P1 , the second position P2 and the third position P3 may not be on the same straight line.

[0058] See Figure 1 and Figure 3The glass unloader is set up as follows: the glass unloader and the storage rack 930 are respectively set on both sides of the production line 920. A backboard 910 is set on the side of the production line 920 close to the glass unloader. The backboard 910 is provided with an inlay hole, and the inlay hole matches the size of the picking mechanism 700.

[0059] The working principle of the glass unloader is:

[0060] When the picking mechanism 700 of the glass unloader completes unloading of the previous glass, the picking mechanism 700 is retracted into the inlay hole, and the surface of the picking mechanism 700 away from the second linear module 630 is flush with the back plate 910 of the glass production line 920. At this time, the picking mechanism 700 serves as part of the back plate and is used to transport the glass.

[0061] When the picking mechanism 700 of the glass unloading machine is used to unload the glass, the picking mechanism 700 is opened to pick up the glass 940. At this time, one end of the first support rod 620 slides upward on the first linear module 610, so that the first linear module 610 rotates clockwise, that is, the first linear module 610 drives the second linear module 630 and then drives the picking mechanism 700 to approach one side of the production line 920; at the same time, one end of the second support rod 640 slides on the second linear module 630 toward the end close to the first linear module 610, that is, the end of the second linear module 630 connected to the picking mechanism 700 moves downward; until the glass 940 is transported to the storage rack 930 located on the other side of the production line 920; the picking mechanism 700 rotates a certain angle relative to the second linear module 630 so that the glass 940 is at the same angle as the storage rack 930. At this time, the picking mechanism 700 releases the glass 940, that is, the unloading action is completed.

[0062] By providing a first support rod 620 and a first linear module 610, the first support rod 620 slides on the first linear module 610, thereby allowing the first linear module 610 to rotate around the first position P1. At the same time, when the picking mechanism 700 is loaded, the first support rod 620 can support the first linear module 610, thereby reducing the force on the first linear module 610 and increasing the service life of the first linear module 610. By providing a second support rod 640 and a second linear module 630, one end of the second support rod 640 slides on the second linear module 630, thereby allowing the second linear module 630 to swing up and down, facilitating the picking and placement of the glass 940. At the same time, the second support rod 640 can support the second linear module 630, thereby reducing the force on the second linear module 630 and increasing the service life of the second linear module 630. That is, the load-bearing capacity and service life of the glass unloader of the present application are improved from two aspects.

[0063] In other embodiments, the second position P2 , the first position P1 , and the third position P3 may be sequentially positioned from the moving mechanism 600 toward the picking mechanism 700 , and the first position P1 , the second position P2 , and the third position P3 may not be on the same straight line.

[0064] In some embodiments, the first linear module 610 and the second linear module 630 each include a motor 611, a screw 612, and a sliding support 613. One end of the screw 612 is connected to the motor 611, and the rotation of the motor 611 drives the screw 612 to rotate. The sliding support 613 is disposed on the screw 612 and is threadedly engaged with the screw 612, so that the sliding support 613 can slide along the length of the screw 612. Since the other end of the first support rod 620 is rotatably connected to the sliding support 613 of the first linear module 610, and the other end of the second support rod 640 is rotatably connected to the sliding support 613 of the second linear module 630, the other end of the first support rod 620 can slide along the length of the first linear module 610, and the other end of the second support rod 640 can slide along the length of the second linear module 630.

[0065] Specifically, the rotational connection method can be a hinge. The specific connection method of the first linear module 610 and the second linear module 630 can be: a first connecting portion (not marked in the figure) is provided at one end where the screw 612 in the first linear module 610 is connected to the screw 612 in the second linear module 630, and a second connecting portion (not marked in the figure) is provided at one end where the screw in the second linear module 630 is connected to the screw 612 in the first linear module 610. The first connecting portion and the second connecting portion are hinged, the first connecting portion is connected to the screw 612 in the first linear module 610 via a bearing, and the second connecting portion is connected to the screw 612 in the second linear module 630 via a bearing.

[0066] See Figure 1 and Figure 2 In some embodiments, the picking mechanism 700 includes a flip bracket, the flip bracket includes a flip plate 710 and a telescopic assembly 720, the flip plate 710 has a fourth position P4 and a fifth position P5, the fourth position P4 and the fifth position P5 are located at different heights on the flip plate 710, and one end of the second linear module 630 away from the first linear module 610 is rotatably connected to the fifth position P5 of the flip plate 710; one end of the telescopic assembly 720 is rotatably connected to the second linear module 630, and the other end is rotatably connected to the fourth position P4 of the flip plate 710.

[0067] In this embodiment, the telescopic assembly 720 includes a telescopic rod and an electric cylinder, pneumatic cylinder, or hydraulic cylinder for pushing the telescopic rod. Because the fourth position P4 and the fifth position P5 are located at different heights on the flip plate 710, and the flip plate 710 is rotatably connected to the fifth position P5 of the second linear module 630, pushing the flip plate 710 to the fourth position P4 allows the flip plate 710 to rotate about the fifth position P5. In actual use, because the flip bracket can swing, it can be adjusted to an angle consistent with the back plate 910 of the production line 920, allowing the pickup mechanism 700 to be attached to the back plate 910 and become part of the back plate 910. Furthermore, the flip bracket can be adjusted to the same angle as the storage rack 930, so that the pickup mechanism 700 and the storage rack 930 are aligned at the same angle, facilitating the placement of the glass 940.

[0068] In some embodiments, the picking mechanism 700 also includes a suction cup bracket 730 and multiple suction cups 731. The suction cup bracket 730 is connected to the flip bracket and is arranged on the side of the flip bracket away from the moving mechanism 600; multiple suction cups 731 are arranged on the suction cup bracket 730 and are located on the side of the suction cup bracket 730 away from the flip bracket.

[0069] In this embodiment, when it is necessary to take the glass off, multiple suction cups 731 simultaneously adsorb the glass 940, the moving mechanism 600 drives the picking mechanism 700 to move, and at the same time the flip bracket drives the suction cup bracket 730 and then drives the adsorbed glass 940 to swing a certain angle, so that the angle of the glass 940 is consistent with the angle of the storage rack 930, the suction cup 731 releases the glass 940, and the moving mechanism 600 drives the picking mechanism 700 to return to its position and wait for the next glass 940.

[0070] In some embodiments, the picking mechanism 700 also includes a push rod 750, a panel 760 and a pushing member 770. One end of the push rod 750 is hinged to the panel 760, and the other end is hinged to the suction cup bracket 730. The panel 760 is arranged on the side of the suction cup bracket 730 away from the flip bracket. A plurality of through holes 761 are opened on the panel 760, and the plurality of through holes 761 correspond one-to-one to the plurality of suction cups 731 respectively; one end of the pushing member 770 is connected to the suction cup bracket 730, and the other end is connected to the panel 760; when the pushing member 770 pushes the panel 760 to move, the through holes 761 on the panel 760 can allow the corresponding suction cups 731 to pass through.

[0071] In this embodiment, the pusher 770 may be a push cylinder. The pusher 770 and the push rod 750 act simultaneously to connect the panel 760 to the suction cup bracket 730. When the pickup mechanism 700 is retracted, the pickup mechanism 700 is used to transport the glass. Therefore, if the suction cup 731 directly contacts the glass 940, the suction cup 731 surface will easily attract the glass 940, thus affecting the transportation of the glass 940.

[0072] In this embodiment, a panel 760 is set, and a push member 770 pushes the panel 760, and the panel 760 moves to the side away from the suction cup bracket 730. The push rod 750 rotates counterclockwise, and finally the surface of the panel 760 protrudes from the suction cup 731, and the movement of the moving mechanism 600 makes the panel 760 flush with the surface of the back panel 910, that is, the panel is in contact with the glass, and the glass 940 can be transmitted normally.

[0073] When the glass unloader extends the unloading piece, the push member 770 drives the panel 760 to retract, and the push rod 750 rotates clockwise, eventually making the suction cup 731 protrude from the surface of the panel 760. At the same time, the moving mechanism 600 drives the picking mechanism 700 to move, so that the suction cup 731 fits with the glass 940, and the suction cup 731 absorbs the glass 940.

[0074] Furthermore, to facilitate the transmission of the glass 940, the panel 760 is provided with a plurality of rollers 762. When the glass is transferred to the panel 760, the rollers 762 come into contact with the glass 940, and the movement of the glass 940 drives the rollers 762 to rotate, thereby converting the sliding friction between the glass 940 and the panel 760 into rolling friction, thereby reducing the driving force on the glass 940.

[0075] In some embodiments, a buffer is provided on the flip plate 710, and the buffer is used to reduce vibration of the panel 760 along the height direction of the panel 760 and the thickness direction of the panel 760. Specifically, when the picking mechanism 700 needs to place the glass 940 on the storage rack 930, the movement amplitude of the moving mechanism 600 is large, and the moving mechanism 600 may have a reaction lag or large inertia. As a result, when the glass 940 contacts the storage rack 930, the picking mechanism 700 still has movement along the height direction of the panel 760 and / or the thickness direction of the panel 760. In this case, the glass may be crushed. Therefore, the present application provides a buffer by providing a buffer to prevent the transported glass from being crushed.

[0076] See Figure 4 and Figure 5In this embodiment, the buffer includes a spring buffer assembly 310, which includes a stopper 311, a limiting rod 312, and a spring 313. The stopper 311 is connected to the flip plate 710 and has a through hole 3111. One end of the limiting rod 312 is connected to the suction cup bracket 730, and the other end passes through the through hole 3111. The limiting rod 312 can reciprocate in the through hole 3111. The spring 313 is sleeved on the limiting rod 312, and one end of the spring 313 abuts the suction cup bracket 730, and the other end abuts the stopper 311. Specifically, there are two flip plates 710, and one end of the stopper 311 is connected to one of the flip plates 710, and the other end is connected to the other flip plate 710. The length direction of the stopper 311 is parallel to the width direction of the panel 760. When the suction cup bracket 730 is subjected to an impact force along the thickness direction of the panel 760 , the spring 313 is compressed, and the elastic force of the spring 313 can play a role in vibration reduction.

[0077] Along the thickness direction of the suction cup bracket 730, the cross-section of the through hole 3111 is a fan-shaped structure. The area of the through hole 3111 at the end closer to the suction cup bracket 730 is larger than the area of the through hole 3111 at the end farther from the suction cup bracket 730. In other words, the limiting rod 312 can rotate up and down within the through hole 3111 with the end farther from the suction cup bracket 730 as the origin. When the bottom of the panel 760 collides with the storage rack 930 or other equipment, the panel 760 is subjected to an upward force. The end of the limiting rod 312 connected to the suction cup bracket 730 rotates around the hinge pin, while the other end of the limiting rod 312 rotates upward within the through hole 3111 with the end farther from the suction cup bracket 730 as the origin, thereby providing a vibration reduction and buffering effect.

[0078] There are at least two spring buffer assemblies 310, spaced apart along the height of the suction cup holder 730. At least one spring buffer assembly 310 has its end connected to the suction cup holder 730 higher than its end connected to the stopper 311. In a normal state, the spring 313 is compressed, exerting an upward force that partially overcomes the gravity generated by the suction cup holder 730, the panel 760, and the glass.

[0079] In another embodiment, the buffer further includes a movable plate assembly 320 , a first limiting plate 323 , and a second limiting plate 324 .

[0080] The movable plate assembly 320 includes a first connecting rod 321 and a second connecting rod 322, the first connecting rod 321 has a first end close to the flip plate 710 and a second end away from the flip plate 710; one end of the second connecting rod 322 is rotatably connected to the second end of the first connecting rod 321, and is located below the second end of the first connecting rod 321, and the other end of the second connecting rod 322 is rotatably connected to the suction cup bracket 730 through the connecting plate 330.

[0081] In actual use, when the bottom of the panel 760 is impacted, the second link 322 moves upward, thereby driving the first link 321 upward. Simultaneously, the limiting rod 312 rotates upward within the through-hole 3111, thereby jointly providing a buffering effect. When the panel 760 is impacted along one side of its thickness toward the flip plate 710, the second link 322 drives the first link 321 away from the suction cup bracket 730. Simultaneously, the other end of the limiting rod 312 extends out of the through-hole 3111, compressing the spring 313. Thus, the two together provide a buffering effect.

[0082] The first limiting plate 323 is fixedly connected to the flip plate 710 and is located below the first end of the first connecting rod 321. The first limiting plate 323 is used to support the first connecting rod 321, so that in a normal state, the first connecting rod 321 is located above the first limiting plate 323, thereby facilitating the second connecting rod 322 to lift the suction cup bracket 730 and the panel 760.

[0083] The second limiting plate 324 is disposed on the flip plate 710 . The second limiting plate 324 is perpendicular to the first limiting plate 323 and is disposed on a side of the second connecting rod 322 close to the suction cup bracket 730 along the thickness direction of the panel 760 .

[0084] Since in the normal state, the spring 313 is in a compressed state, that is, the spring 313 has an elastic force along the thickness direction of the panel 760 and from the flip plate 710 to the side of the suction cup bracket 730, that is, the suction cup bracket 730 has a tendency to move away from the side of the flip plate 710; by setting the second limit plate 324, the second limit plate 324 is used to limit the movement of the second connecting rod 322 toward the suction cup bracket 730, and since the second connecting rod 322 is connected to the suction cup bracket 730, the second limit plate 324 is used to prevent the suction cup bracket 730 from moving to the side away from the flip plate 710, that is, the elastic force of the spring 313 and the resistance direction of the second limit plate 324 are opposite. When the suction cup bracket 730 is hit, the spring 313 and the second limit plate 324 help the suction cup bracket 730 to return to the equilibrium position.

[0085] See Figure 1 and Figure 2In some embodiments, the glass unloader further includes a hook assembly 800, which includes a driving member 820, a connecting rod assembly 810, and a hook. The driving member 820 is rotatably connected to the side of the picking mechanism 700 close to the moving mechanism 600; one end of the connecting rod assembly 810 is rotatably connected to the driving member 820, and the other end is connected to the hook. The driving member 820 is used to drive the connecting rod assembly 810 to move, so that the connecting rod assembly 810 drives the hook to switch between a release position and a support position; wherein, the hook is located at the bottom of the picking mechanism 700 when in the support position, and is located on the side of the picking mechanism 700 close to the moving mechanism 600 when in the release position.

[0086] In this embodiment, the driving member 820 can be a push cylinder. The insulating glass 940 is usually a two-glass one-cavity (glass 940-hollow-glass 940) or three-glass two-cavity structure, in which the two layers of glass or the three layers of glass are connected by glue. The suction cup 731 can only absorb the glass 940 on one side. When the glass 940 is being transported, the glue has not yet fully achieved the bonding effect, and the glass 940 on the other side that has just been bonded is prone to "slipping". Therefore, during the unloading process, the hook assembly 800 is required to drag the bottom of the glass 940. When the unloading is not needed, the hook assembly 800 is retracted to the side of the picking mechanism 700 close to the moving mechanism 600 to avoid affecting the transportation and picking and placing actions of the glass 940 by the glass unloader.

[0087] Furthermore, the suction cup bracket 730 of the picking mechanism 700 has a seventh position P7, an eighth position P8 and a ninth position P9 on the side away from the suction cup 731. The seventh position P7, the eighth position P8 and the ninth position P9 are arranged at intervals from top to bottom along the height direction of the suction cup bracket 730. The connecting rod assembly 810 includes a first connecting rod 811, a second connecting rod 812 and a third connecting rod 813. One end of the first connecting rod 811 is hinged to the eighth position P8 of the picking mechanism 700. The first connecting rod 811 is hinged to the eighth position P8 of the picking mechanism 700. The middle part is hinged to the driving member 820; the other end of the first connecting rod 811 is hinged to one end of the second connecting rod 812; the third connecting rod 813 is a T-shaped structure, and the third connecting rod 813 includes a first rod segment 8131, a second rod segment 8132 and a third rod segment 8133, the first rod segment 8131 is hinged to the other end of the second connecting rod 812, the second rod segment 8132 is hinged to the ninth position P9 of the picking mechanism 700, and a shock-absorbing sleeve is provided on the third rod segment 8133, and the third rod segment 8133 serves as a hook.

[0088] Specifically, the driving member 820 is hinged to the seventh position P7 of the suction cup bracket 730, one end of the first connecting rod 811 is hinged to the eighth position P8 of the suction cup bracket 730, and the third connecting rod 813 is hinged to the ninth position P9 of the suction cup bracket 730. The distance from the ninth position P9 to the bottom of the suction cup bracket 730 is equal to the length of the second rod segment 8132. When the glass is not needed for removal, the driving member 820 retracts upward, driving the first connecting rod 811, the second connecting rod 812, and the third connecting rod 813 to rotate upward, so that the end of the third connecting rod 8133 away from the first connecting rod 8131 is no lower than the bottom of the suction cup bracket 730 to prevent it from interfering with the suction cup bracket 730 in releasing the glass 940. During the process of removing the glass, the driving member 820 pushes downward, driving the first connecting rod 811, the second connecting rod 812 and the third connecting rod 813 to rotate downward, so that the second rod segment 8132 is parallel to the suction cup bracket 730, and the third rod segment 8133 is perpendicular to the suction cup bracket 730, that is, the third rod segment 8133 can be used as a hook to support the glass 940.

[0089] Since the contact area between the glass 940 and the hook is small, and the weight of the glass 940 itself is large, the pressure that the hook assembly 800 needs to bear is large. In this embodiment, only one driving member 820 is provided, and the driving member 820 can be a pushing cylinder. The driving member 820 only needs to provide a thrust to push the connecting rod assembly 810. This thrust makes the first connecting rod 811 and the second connecting rod 812 form a straight line under the auxiliary positioning action of the raised part of the first connecting rod 811 (the raised part is set on the side of the first connecting rod 811 away from the connection with the driving member 820). And since the second connecting rod 812 is a two-force rod, the force it receives is directly transmitted to the hinge point between the first connecting rod 811 and the eighth position P8. At this time, the first connecting rod 811 does not receive the component force that makes it rotate around the fixed hinge point, that is, no reaction force to push the driving member 820 will be generated, that is, when the driving member 820 does not apply a thrust, the connecting rod assembly 810 can be locked in this position, so that the hook can drag the glass 940.

[0090] See Figure 1 In some embodiments, one end of the second linear module 630 rotatably connected to the base 500 has a downward extension end, and the moving mechanism 600 further includes a counterweight box 650, which is connected to the bottom of the extension end.

[0091] In this embodiment, the box is sealed, and its interior can be filled with sand, gravel, etc., either full or half, depending on the load of the pickup mechanism 700. When the glass unloader retracts, the first linear module 610 rotates counterclockwise about the first position P1. At this time, the counterweight box 650 generates a force that causes the first linear module 610 to rotate clockwise, causing the entire glass unloader to extend, facilitating the initiation of the unloading operation. This reduces the starting acceleration load of the first linear module 610 and the instantaneous current of the starting motor 611. When selecting a motor 611, a lower power motor 611 can be selected, thereby reducing the installed capacity. When the glass unloader extends the unloader, the counterweight box 650 rotates clockwise, and the counterweight box 650 generates a force that causes the first linear module 610 to rotate counterclockwise. Under the action of the counterweight, it is beneficial for the mobile mechanism 600 to balance the gravity of the load (glass 940), that is, it can reduce the holding torque of the mobile mechanism 600 on the load, thereby alleviating the overload condition of the glass unloader.

[0092] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0093] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A glass unloader, characterized in that: The glass unloader comprises: A base, wherein the base has a first position, a second position, and a third position arranged in sequence; The moving mechanism includes: a first linear module, a first support rod, a second linear module, and a second support rod, one end of the first linear module is rotatably connected to a first position on the base, and the other end of the first linear module is rotatably connected to the second linear module; one end of the first support rod is rotatably connected to a second position on the base, the other end of the first support rod is rotatably connected to the first linear module, and can slide along the length direction of the first linear module under the drive of the first linear module, one end of the second support rod is rotatably connected to a third position on the base, the other end of the second support rod is rotatably connected to the second linear module, and can slide along the length direction of the second linear module under the drive of the second linear module; and a picking mechanism, rotatably connected to an end of the second linear module away from the first linear module, the picking mechanism being used to pick up glass; The first linear module and the second linear module each include a motor, a screw and a sliding support, one end of the screw is connected to the motor, the sliding support is arranged on the screw, and the sliding support is engaged with the screw thread, the other end of the first support rod is rotatably connected to the sliding support of the first linear module, and the other end of the second support rod is rotatably connected to the sliding support of the second linear module; The picking mechanism includes a flip bracket, which includes a flip plate and a telescopic assembly. The flip plate has a fourth position and a fifth position with different heights. One end of the second linear module away from the first linear module is rotatably connected to the fifth position of the flip plate; one end of the telescopic assembly is rotatably connected to the second linear module, and the other end is connected to the fourth position of the flip plate.

2. The glass unloader according to claim 1, characterized in that: The picking mechanism further comprises: a suction cup bracket connected to the flip bracket and arranged on a side of the flip bracket away from the moving mechanism; and A plurality of suction cups are arranged on the suction cup bracket and are located on a side of the suction cup bracket away from the flip bracket.

3. The glass unloader according to claim 2, characterized in that: The picking mechanism further comprises: a panel, the panel being arranged on a side of the suction cup bracket away from the flip bracket, the panel being provided with a plurality of through holes, the plurality of through holes corresponding one-to-one to the plurality of suction cups respectively; a push rod, one end of which is rotatably connected to the suction cup bracket, and the other end of which is rotatably connected to the panel; A pushing member has one end connected to the suction cup bracket and the other end connected to the panel; when the pushing member pushes the panel to move, the through hole on the panel can allow the corresponding suction cup to pass through.

4. The glass unloader according to claim 3, characterized in that: The panel is provided with a plurality of rollers, which are used to transport glass.

5. The glass unloader according to claim 2, characterized in that: The flip plate is provided with a buffer member, and the buffer member is used to reduce vibration of the suction cup bracket along the length direction of the suction cup bracket and the thickness direction of the suction cup bracket respectively.

6. The glass unloader according to claim 1, characterized in that: The glass unloader further includes a hook assembly, which includes: Hook shot; a driving member rotatably connected to a side of the picking mechanism close to the moving mechanism; and A connecting rod assembly, one end of which is rotatably connected to the driving member and the other end of which is connected to the hook; The driving member is used to drive the connecting rod assembly to move, so that the connecting rod assembly drives the hook to switch between a release position and a support position; wherein, the hook is located at the bottom of the picking mechanism when it is in the support position, and is located on the side of the picking mechanism close to the moving mechanism when it is in the release position.

7. The glass unloader according to claim 6, characterized in that: The connecting rod assembly comprises: a first connecting rod, one end of the first connecting rod being hinged to the picking mechanism, and a middle portion of the first connecting rod being hinged to the driving member; a second connecting rod, one end of the second connecting rod being hinged to the other end of the first connecting rod; The third connecting rod is a T-shaped structure. The third connecting rod includes a first rod segment, a second rod segment and a third rod segment. The first rod segment is hinged to the other end of the second connecting rod, the second rod segment is hinged to the picking mechanism and is spaced apart from the first connecting rod along the height direction of the picking mechanism. A shock-absorbing sleeve is provided on the third rod segment. The third rod segment serves as the hook. The distance from the position where the second rod segment is hinged to the picking mechanism to the bottom of the picking mechanism is equal to the length of the second rod segment.

8. The glass unloader according to claim 1, characterized in that: One end of the first linear module rotatably connected to the base has a downward extending end, and the moving mechanism further includes a counterweight box connected to the bottom of the extending end.

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