Gripping mechanism, film sheet gripping method, and laminated glass assembly system

Abstract

The present application relates to a kind of grabbing mechanism, film piece grabbing method and laminated glass system, including at least two grabbing heads, each grabbing head is used to grab different parts of film piece respectively, part of the face for contacting film piece on a part of grabbing head is first positioning surface, and the face for contacting film piece on another part of grabbing head is second positioning surface, the two parts of grabbing head active cooperation makes that there is first state and second state between them, the included angle between first positioning surface and second positioning surface is a1 when first state, the included angle between first positioning surface and second positioning surface is a2 when second state, and a1 and a2 are not equal, the distance between any point on first positioning surface and any point on second positioning surface is equal when first state and second state.The film piece is grabbed using grabbing mechanism, first, film piece is bent so that middle part of film piece can be first adhered to the laminating surface of glass, then release the outer edge part of film piece so that film piece can be accurately adhered to glass, improve laminating precision.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of glass lamination, in particular to a grabbing mechanism, a film grabbing method and a laminated glass lamination system. BACKGROUND

[0002] The laminated glass has a lamination step in the processing process, and the lamination refers to laminating the inner glass, the film and the outer glass after stacking. The surface of the inner glass for adhering to the film is a lamination surface, and the surface of the outer glass for adhering to the film is a lamination surface. In the conveying and lamination process, the lamination surface should be avoided to be touched as much as possible to avoid pollution to the lamination surface and cause optical quality defects of the laminated glass. The soft film is difficult to fix, and the lamination precision is low in the lamination process. SUMMARY

[0003] The present application proposes a grabbing mechanism, a film grabbing method and a laminated glass lamination system to improve the lamination precision.

[0004] A grabbing mechanism includes at least two grabbing heads, each of which is used to grab different parts of the film. One part of the grabbing heads has a first positioning surface for contacting the film, and the other part of the grabbing heads has a second positioning surface for contacting the film. The two parts of the grabbing heads are movably connected, so that there are a first state and a second state between them. The included angle between the first positioning surface and the second positioning surface is a1 in the first state, and the included angle between the first positioning surface and the second positioning surface is a2 in the second state. a1 and a2 are not equal, and the distance between any point on the first positioning surface and any point on the second positioning surface is equal in the first state and the second state.

[0005] In one embodiment, the grabbing head with the first positioning surface is a first grabbing head, and the grabbing head with the second positioning surface is a second grabbing head. The first grabbing head and the second grabbing head can rotate relative to each other, and the axis of rotation is parallel to the first positioning surface and the second positioning surface. The first grabbing head and the second grabbing head can move relative to each other, and the movement direction intersects the relative rotation axis between them.

[0006] In one embodiment, the first grabbing head and the second grabbing head are connected by a first rotating shaft, and the first positioning surface and the second positioning surface are parallel to the axis of the first rotating shaft. The first rotating shaft is slidable relative to the first grabbing head and / or the second grabbing head, and the sliding direction is perpendicular to the axis of the first rotating shaft.

[0007] In one of the embodiments, the second grabbing head is provided with a first sliding rail, and a first sliding block is slidingly fitted on the first sliding rail, the first sliding block is rotationally fitted with the first rotating shaft, and the sliding direction of the first sliding block on the first sliding rail is perpendicular to the axial direction of the first rotating shaft.

[0008] The second grabbing head is further provided with a guide, one end of the first grabbing head is slidingly connected with the guide, the guide direction of the guide is perpendicular to the axial direction of the first rotating shaft, and the guide direction of the guide intersects with the sliding direction of the first sliding block on the first sliding rail.

[0009] In one of the embodiments, the second grabbing head is further provided with a guide, the guide is provided with a guide groove, and the first grabbing head is further provided with a guide wheel, the guide wheel is slidingly fitted in the guide groove, and the guide wheel is not located on the axis of the first rotating shaft.

[0010] In one of the embodiments, each of the grabbing heads comprises a support and a plurality of suction cups arranged on the support, the suction surfaces of all the suction cups on a part of the supports constitute the first positioning surface, the suction surfaces of all the suction cups on another part of the supports constitute the second positioning surface, and the two parts of the supports are movably connected to each other to form the first state and the second state.

[0011] In one of the embodiments, the grabbing mechanism comprises two of the grabbing heads, the surface of one of the grabbing heads for contacting the membrane is the first positioning surface, the surface of the other of the grabbing heads for contacting the membrane is the second positioning surface, and the two grabbing heads are movably connected to each other to form the first state and the second state.

[0012] Alternatively, the grabbing mechanism comprises three of the grabbing heads, the surface of one of the grabbing heads for contacting the membrane is the second positioning surface, the surfaces of the other two of the grabbing heads for contacting the membrane are the first positioning surface, the two grabbing heads each having the first positioning surface are respectively located on the two sides of the grabbing head having the second positioning surface, and each of the grabbing heads having the first positioning surface is movably connected with the grabbing head having the second positioning surface to form the first state and the second state.

[0013] A membrane grabbing method, using any one of the grabbing mechanisms described above to grab a membrane, the grabbing method comprising the following steps:

[0014] Step one: using each of the grabbing heads to grab different parts of the film, at this time the first positioning surface and the second positioning surface in contact with different parts of the film are located in the same plane;

[0015] Step two: controlling the relative movement between each grabbing head to form an included angle between the first positioning surface and the second positioning surface, and make the film bend.

[0016] In one embodiment, the distance between any point on the first positioning surface and any point on the second positioning surface is always equal before and after the film is bent.

[0017] In one embodiment, in step two, the film is bent to form a V shape.

[0018] A laminated glass bonding system, comprising a bonding device and the above-mentioned grabbing mechanism, the bonding device is provided with a bonding site, and the grabbing mechanism is used to transfer the film to the bonding surface of the first glass located at the bonding site.

[0019] The above scheme provides a grabbing mechanism, a film grabbing method and a laminated glass bonding system. By designing a part of the grabbing heads to be movably connected with the other part of the grabbing heads, the first state and the second state are formed between the two parts of the grabbing heads. When the relative movement between the two parts of the grabbing heads changes the included angle between the first positioning surface and the second positioning surface between a1 and a2, the distance between any point on the first positioning surface and any point on the second positioning surface is equal, so that the film grabbed by the grabbing mechanism is not pulled when it is bent. After the film is grabbed by the grabbing mechanism, the film can be bent first so that the middle part of the film can be attached to the bonding surface of the glass, and then the outer edge part of the film is released so that the film can be accurately attached to the glass, improving the bonding precision. BRIEF DESCRIPTION OF DRAWINGS

[0020] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application, and are incorporated in and constitute a part of this application. The embodiments of the application illustrated in the drawings, and their description, are presented to explain the application and not to limit or define the application.

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0022] Figure 1 The front view of the second grabbing mechanism described in the embodiment;

[0023] Figure 2 Fig. 2 shows a structure diagram of the hand in the second grabbing mechanism; Figure 1

[0024] Figure 3 Fig. 3 shows a front view of the hand in the first state; Figure 2

[0025] Figure 4 Fig. 4 shows a sectional view of the hand; Figure 3

[0026] Figure 5 Fig. 5 shows a front view of the hand in the second state; Figure 3

[0027] Figure 6 Fig. 6 shows a sectional view of the hand; Figure 5

[0028] Figure 7 Fig. 7 shows a top view of the laminated glass splicing system;

[0029] Figure 8 Fig. 8 shows a structure diagram of the laminated glass splicing system; Figure 7

[0030] Figure 9 Fig. 9 shows a top view of the second conveying section in a state;

[0031] Figure 10 Fig. 10 shows a front view of the splicing device; Figure 9

[0032] Figure 11 Fig. 11 shows a top view of the splicing device;

[0033] Figure 12 Fig. 12 shows a structure diagram of the splicing device in a perspective view; Figure 11

[0034] Figure 13 Fig. 13 shows a structure diagram of the first grabbing mechanism. Figure 11

[0035] Figure 14 Fig. 14 shows a structure diagram of the second grabbing mechanism.

[0036] Explanation of reference signs:

[0037] ​​​​​​​​​10, laminated glass bonding system; 11, conveying mechanism; 111, first conveying section; 112, second conveying section; 1121, first sub-conveying section; 1122, second sub-conveying section; 1123, telescopic conveying belt; 1124, first conveying belt; 1125, slope; 1126, spacing space; 113, support frame; 1131, notch; 12, bonding device; 121, servo module; 122, first placement position; 123, second placement position; 124, bonding position; 13, first grabbing mechanism; 14, second grabbing mechanism; 141, first grabbing head; 1411, first positioning surface; 142, second grabbing head; 1421, second positioning surface; 143, first rotating shaft; 144, support; 145, suction cup; 146, first sliding rail; 147, first sliding block; 148, guide; 1481, guide groove; 149, guide wheel; 15, visual positioning unit; 20, first glass; 30, second glass; 40, film; 50, laminated glass. DETAILED DESCRIPTION

[0038] In order to make the above objectives, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings. In the following description, a large number of specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present application, so the present application is not limited to the specific embodiments disclosed below.

[0039] As shown in Figure 7 and Figure 8 , the present application provides a laminated glass bonding system 10 in some embodiments, comprising a bonding device 12 and a second grabbing mechanism 14. The bonding device 12 is provided with a bonding position 124, and the second grabbing mechanism 14 is used to transfer the film 40 to the bonding surface of the first glass 20 at the bonding position 124.

[0040] The first glass 20 can be the outer glass of the laminated glass 50, and the film 40 is bonded to the bonding surface of the first glass 20 during the bonding process. Since the film 40 is relatively soft and cannot maintain a stable shape by itself, a grabbing mechanism is provided as described below for grabbing the film 40. The second grabbing mechanism 14 in any embodiment of the present application can be the grabbing mechanism.

[0041] The present application provides a grabbing mechanism for grabbing the film 40 in some embodiments. As shown in Figures 1 to 6The shown grabbing mechanism includes at least two grabbing heads, each of which is used to grab a different part of the film 40. One part of the grabbing heads has a first positioning surface 1411 for contacting the film 40, and another part of the grabbing heads has a second positioning surface 1421 for contacting the film 40. The two parts of the grabbing heads are movably connected so that there are a first state and a second state between them. In the first state, the included angle between the first positioning surface 1411 and the second positioning surface 1421 is a1, and in the second state, the included angle between the first positioning surface 1411 and the second positioning surface 1421 is a2, and a1 is not equal to a2. In other words, the included angle between the first positioning surface 1411 and the second positioning surface 1421 is different in the first state and the second state. The part of the film 40 grabbed by the first positioning surface 1411 is parallel to the first positioning surface 1411, and the part of the film 40 grabbed by the second positioning surface 1421 is parallel to the second positioning surface 1421. Therefore, the included angle between the two parts of the film 40 is different in the first state and the second state.

[0042] In some embodiments, as shown in Figure 3 and Figure 4 In the first state, the included angle a1 between the first positioning surface 1411 and the second positioning surface 1421 is 180°, that is, in the first state, each part of the film 40 lies in a plane. As shown in Figure 5 and Figure 6 In the second state, the included angle a2 between the first positioning surface 1411 and the second positioning surface 1421 is less than 180°. Compared with the shape of the film 40 in the first state, the two parts of the film 40 are bent in the second state.

[0043] The first glass 20 is the outer glass of the arc-shaped laminated glass 50, and when it is in the lamination device 12, the concave surface faces upward. The grabbing mechanism is used to place the film 40 on the concave surface of the outer glass. The grabbing mechanism is first adjusted to the second state, and then the middle bent part of the film 40 is pressed to the middle position of the concave surface of the outer glass. After that, each grabbing head releases the outer edge part of the film 40, so that the film 40 is accurately attached to the concave surface of the first glass 20, improving the lamination accuracy.

[0044] Further, the distance between any point on the first positioning surface 1411 and any point on the second positioning surface 1421 is equal in the first state and the second state. It can be understood that no matter whether the first state or the second state between each grabbing head, the distance between any point on the first positioning surface 1411 and any point on the second positioning surface 1421 is unchanged. Therefore, the film 40 grabbed by each grabbing head at different parts will not be stretched and deformed when bent. Further, the film 40 will not shrink when attached to the glass, further improving the lamination accuracy.

[0045] In summary, the grabbing mechanism is first in the first state to grab the fixed film 40 with the first positioning surface 1411 and the second positioning surface 1421 in the same plane, and then switched to the second state to fold the film 40, and then place the folded film 40 on the first glass 20.

[0046] After the grabbing mechanism places the film 40 on the first glass 20, the second glass 30 can be grabbed and placed on the film 40 adhered to the first glass 20 in the first state, or the second glass 30 can be grabbed and placed on the film 40 adhered to the first glass 20 in the second state. The second glass 30 is the inner glass of the laminated glass 50.

[0047] Specifically, in some embodiments, the grabbing head with the first positioning surface is the first grabbing head 141, and the grabbing head with the second positioning surface is the second grabbing head 142. The first grabbing head 141 and the second grabbing head 142 are movably connected so that there are the first state and the second state between them. The first grabbing head 141 and the second grabbing head 142 can be movably connected by a linkage mechanism so that the first grabbing head 141 and the second grabbing head 142 can have the first state and the second state.

[0048] In some embodiments, the above movable connection combines rotation and movement. For example, as shown in Figures 3 to 6 The first grabbing head 141 and the second grabbing head 142 can rotate relative to each other, and the axis of rotation is parallel to the first positioning surface 1411 and the second positioning surface 1421. The first grabbing head 141 and the second grabbing head 142 can move relative to each other, and the direction of movement is perpendicular to the axis of relative rotation between them.

[0049] The first grabbing head 141 rotates relative to the second grabbing head 142 along the above axis, so that the angle between the first positioning surface 1411 and the second positioning surface 1421 changes; while rotating, the first grabbing head 141 and the second grabbing head 142 also move relative to each other, and the direction of movement is perpendicular to the above axis, so that the distance between any point on the first positioning surface 1411 and any point on the second positioning surface 1421 remains unchanged during this process, and the film 40 will not be stretched and deformed.

[0050] The relative rotation and relative movement between the first grabbing head 141 and the second grabbing head 142 can be achieved by a linkage mechanism arranged therebetween, which is not limited here.

[0051] Specifically, in some embodiments, as shown in Figures 3 to 6As shown, the first gripping head 141 and the second gripping head 142 are rotationally connected through the first rotating shaft 143, and the first locating surface 1411 and the second locating surface 1421 are parallel to the axial direction of the first rotating shaft 143. The first rotating shaft 143 is slidable relative to the first gripping head 141 and / or the second gripping head 142, and the sliding direction is perpendicular to the axial direction of the first rotating shaft 143.

[0052] When the first gripping head 141 and the second gripping head 142 rotate around the axis of the first rotating shaft 143, the first rotating shaft 143 moves relative to the first gripping head 141 and / or the second gripping head 142, so that the film sheet 40 is bent without being stretched and deformed.

[0053] For example, the first rotating shaft 143 is fixedly connected with the first gripping head 141, and the second gripping head 142 is provided with a strip-shaped insertion slot for inserting the first rotating shaft 143. The first rotating shaft 143 is rotatable in the strip-shaped insertion slot and movable along the length direction of the strip-shaped insertion slot, and the length direction of the strip-shaped insertion slot is perpendicular to the axial direction of the first rotating shaft 143.

[0054] Alternatively, in one embodiment, as shown in the first embodiment of the first rotating shaft 143, Figures 3 to 6 the second gripping head 142 is provided with a first sliding rail 146, the first sliding rail 146 is slidably connected with a first sliding block 147, and the sliding direction of the first sliding block 147 on the first sliding rail 146 is perpendicular to the axial direction of the first rotating shaft 143. The first sliding block 147 is rotationally connected with the first gripping head 141 through the first rotating shaft 143.

[0055] When the first gripping head 141 and the first sliding block 147 rotate relative to each other, the first sliding block 147 can slide on the first sliding rail 146. Finally, the first gripping head 141 and the second gripping head 142 can rotate and move relative to each other.

[0056] Further, as shown in the first embodiment of the first rotating shaft 143, Figures 3 to 6 the second gripping head 142 is further provided with a guide 148, one end of the first gripping head 141 is slidably connected with the guide 148, the guide direction of the guide 148 is perpendicular to the axial direction of the first rotating shaft 143, and the guide direction of the guide 148 intersects with the sliding direction of the first sliding block 147 on the first sliding rail 146. Under the guidance of the guide 148, when the first gripping head 141 rotates relative to the second gripping head 142, the first gripping head 141 must slide relative to the second gripping head 142, so that the distance between any point on the first locating surface 1411 and any point on the second locating surface 1421 remains unchanged during the change of the included angle between the first locating surface 1411 and the second locating surface 1421.

[0057] Specifically, as shown in the first embodiment of the first rotating shaft 143, Figures 3 to 6As shown, in one embodiment, the guide member 148 is provided with a guide groove 1481. The first gripping head 141 is also provided with a guide wheel 149, which is slidably mounted in the guide groove 1481. The guide wheel 149 is not located on the axis of the first rotating shaft 143, and is spaced apart from the first rotating shaft 143. The guiding direction of the guide groove 1481 is perpendicular to the axial direction of the first rotating shaft 143, and the guiding direction of the guide groove 1481 intersects with the sliding direction of the first slider 147 on the first slide rail 146.

[0058] Under the guidance of the guide groove 1481, when the first gripper head 141 rotates relative to the second gripper head 142, the guide wheel 149 on the first gripper head 141 can only slide in the guide groove 1481. At the same time, the guide wheel 149 rotates relative to the guide groove 1481 and / or the first gripper head 141, so that the first gripper head 141 can only slide relative to the second gripper head 142 at the same time.

[0059] like Figure 1 and Figure 2 As shown, in some embodiments, each gripper head includes a support 144 and a plurality of suction cups 145 disposed on the support. The suction surfaces of all the suction cups 145 on a portion of the support 144 constitute the first positioning surface 1411, and the suction surfaces of all the suction cups 145 on another portion of the support 144 constitute the second positioning surface 1421. The two portions of the support 144 are movably coupled to allow the existence of the first state and the second state between them.

[0060] In some embodiments, the gripping mechanism includes two gripping heads, one of which has a first positioning surface 1411 for contacting the diaphragm 40, and the other has a second positioning surface 1421 for contacting the diaphragm 40. These two gripping heads cooperate to maintain a first state and a second state. For example, one of the two gripping heads may be a first gripping head 141, and the other a second gripping head 142.

[0061] In some embodiments, the grabbing mechanism comprises three grabbing heads, wherein the surface of one grabbing head for contacting the membrane 40 is the second positioning surface 1421, and the surface of the other two grabbing heads for contacting the membrane 40 is the first positioning surface 1411. The two grabbing heads each having the first positioning surface 1411 are respectively located on the two sides of the grabbing head having the second positioning surface 1421, and each of the grabbing heads having the first positioning surface 1411 is movably connected with the grabbing head having the second positioning surface 1421, so that the first state and the second state exist between each of the grabbing heads having the first positioning surface 1411 and the grabbing head having the second positioning surface 1421. For example, the grabbing mechanism comprises one second grabbing head 142 and two first grabbing heads 141, and each of the first grabbing heads 141 is movably connected with the second grabbing head 142.

[0062] The suction surfaces of the plurality of suction cups 145 comprised by the first grabbing head 141 constitute the first positioning surface 1411. The suction surfaces of the plurality of suction cups 145 comprised by the second grabbing head 142 constitute the second positioning surface 1421. The two supports 144 of the first grabbing head 141 and the second grabbing head 142 are movably connected, so that the first state and the second state exist between the first grabbing head 141 and the second grabbing head 142.

[0063] The plurality of suction cups 145 comprised by the first grabbing head 141 are adsorptively fixed with one part of the membrane 40, and the plurality of suction cups 145 comprised by the second grabbing head 142 are adsorptively fixed with another part of the membrane 40. When the two supports 144 move relative to each other, the corresponding suction cups 145 move relative to each other.

[0064] In one embodiment, the two supports 144 of the first grabbing head 141 and the second grabbing head 142 are rotatably connected through the aforementioned first rotating shaft 143. The first rotating shaft 143 is slidable relative to at least one of the two supports 144, and the sliding direction is perpendicular to the axial direction of the first rotating shaft 143.

[0065] Further specifically, the support 144 comprised by the second grabbing head 142 is provided with the aforementioned first sliding rail 146, and the first sliding rail 146 is rotatably connected with the support 144 comprised by the second grabbing head 142 through the first rotating shaft 143. The support 144 comprised by the second grabbing head 142 is provided with the aforementioned guide 148, and the support 144 comprised by the first grabbing head 141 is provided with the aforementioned guide wheel 149.

[0066] Still further, in some embodiments, a membrane grabbing method is provided, which uses the grabbing mechanism as described in any of the above embodiments to grab a membrane. The grabbing method comprises the following steps:

[0067] Step one: each of the grabbing heads is used to grab different parts of the film 40, at this time the first positioning surface 1411 and the second positioning surface 1421 in contact with different parts of the film 40 are located in the same plane;

[0068] Step two: control the relative movement between each grabbing head, so that the first positioning surface 1411 and the second positioning surface 1421 form an included angle, and the film 40 is bent.

[0069] The film 40 to be grabbed is generally placed flat on a support plane, so during the process of grabbing the film 40, first adjust each grabbing head of the grabbing mechanism to the state that the first positioning surface 1411 and the second positioning surface 1421 are located in the same plane, in this state first contact the film and grab the film. Then switch the state of the grabbing mechanism to make the film 40 bent, so that the middle part of the film 40 protrudes first to contact the to-be-laminated component, improving the laminating precision.

[0070] Moreover, in some embodiments, the distance between any point on the first positioning surface 1411 and any point on the second positioning surface 1421 is always equal before and after the film 40 is bent. The film 40 will not be stretched during the bending process, further avoiding the situation that the film shrinks and deforms after the grabbing mechanism releases the film 40.

[0071] Specifically, in one embodiment, in step two, the film 40 is bent to form a V shape.

[0072] Further, in some embodiments, as shown in Figure 7 and Figure 8 The laminated glass laminating system 10 further comprises a first grabbing mechanism 13 and a second conveying section 112 located at the film turning starting station. The first glass 20 and the second glass 30 can be conveyed onto the second conveying section 112 in turn.

[0073] The first glass 20 and the second glass 30 reaching the film turning starting station will be transferred to the laminating device 12 by the first grabbing mechanism 13 in turn, and during the transfer process, the first glass 20 and the second glass 30 will be turned over, so that the laminating surface of the first glass 20 on the laminating device 12 faces upward and the laminating surface of the second glass 30 faces downward.

[0074] Further, the first conveying section 111 can be arranged upstream of the second conveying section 112, and the first glass 20 and the second glass 30 are sequentially conveyed onto the second conveying section 112 by the first conveying section 111. It can be understood that the first glass 20 and the second glass 30 for manufacturing the laminated glass 50 are sequentially conveyed to the turning starting station by the same conveying mechanism 11, where the conveying mechanism 11 includes the first conveying section 111 and the second conveying section 112. Specifically, in the manufacturing process, the first glass 20 and the second glass 30 can be sequentially placed on the conveying mechanism 11, and then sequentially conveyed to the turning starting station by the conveying mechanism 11.

[0075] In addition, the first grabbing mechanism 13 can also rotate around an axis perpendicular to the horizontal plane during the transferring process, and rotate the first glass 20 and the second glass 30 by 180°. As shown in FIG. 2, when on the conveying mechanism 11, the exposed edges of the first glass 20 and the second glass 30 are located on the side, and when in the lamination device 12, the exposed edges of the first glass 20 and the second glass 30 are directed to the forward direction. The rotation axis of the turning action is arranged in the horizontal direction, and the rotation axis of the rotation action is arranged in the direction perpendicular to the horizontal plane. Figure 7

[0076] When the first glass 20 and the second glass 30 are on the conveying mechanism 11, the lamination surface of the first glass 20 faces downward, and the lamination surface of the second glass 30 faces upward. After being transferred by the first grabbing mechanism 13, the lamination surfaces of the two glasses change direction.

[0077] In some processing scenarios, the first glass 20 is the outer glass of the arc-shaped laminated glass 50, and the second glass 30 is the inner glass of the arc-shaped laminated glass 50. The concave surface of the arc-shaped outer glass is the lamination surface, and the convex surface of the arc-shaped inner glass is the lamination surface. During the conveying process on the conveying mechanism 11, the convex surfaces of the outer glass and the inner glass both face upward, and the attitude consistency is high, so as to facilitate photographing positioning. After being turned and transferred by the first grabbing mechanism 13, the convex surface of the outer glass placed in the lamination device 12 faces downward, and the concave surface faces upward. The inner glass placed in the lamination device 12 also has a convex surface facing downward and a concave surface facing upward.

[0078] After the first glass 20 and the second glass 30 are sequentially transferred to the lamination device 12 by the first grabbing mechanism 13, the second grabbing mechanism 14 first transfers the film 40 to the lamination surface of the first glass 20, and then places the second glass 30 on the film 40, completing the lamination process. The orientation of the second glass 30 does not change during the process of being placed on the first glass 20 by the second grabbing mechanism 14.

[0079] Further, as shown in FIG. 3, Figure 7 and Figure 8 ​As shown, a visual positioning unit 15 can also be arranged upstream of the first grabbing mechanism 13 to obtain position information of the first glass 20 and the second glass 30. The visual positioning unit 15 is electrically connected to the first grabbing mechanism 13, and the first grabbing mechanism 13 can accurately grab the first glass 20 and the second glass 30 according to the position information fed back by the visual positioning unit 15.

[0080] Further, in some embodiments, as shown in Figure 9 and Figure 10 The second conveying section 112 includes a first sub-conveying section 1121 and a second sub-conveying section 1122 arranged in sequence along the conveying direction of the second conveying section 112. In other words, the first sub-conveying section 1121 is located between the first conveying section 111 and the second sub-conveying section 1122.

[0081] As shown in Figure 9 and Figure 10 The first sub-conveying section 1121 and the second sub-conveying section 1122 are both movable relative to each other in the conveying direction and can be moved to a state in which they are spaced apart.

[0082] Alternatively, the first sub-conveying section 1121 is telescopic in the conveying direction, so that it can be spaced apart from the second sub-conveying section 1122.

[0083] Alternatively, the second sub-conveying section 1122 is telescopic in the conveying direction, so that it can be spaced apart from the first sub-conveying section 1121.

[0084] As shown above, the first glass 20 can be the outer glass of the arc-shaped laminated glass 50, and the second glass 30 can be the inner glass of the arc-shaped laminated glass 50. When being conveyed on the conveying mechanism 11, the first glass 20 and the second glass 30 are both convex upward, and the first grabbing mechanism 13 needs to grab the first glass 20 and the second glass 30 in sequence at the turning starting station. The lamination surface of the first glass 20 at the turning starting station is the concave surface downward at this time, and the first grabbing mechanism 13 can directly act on the convex surface of the first glass 20 from above, and then transfer the first glass 20 to the lamination device 12, and place the first glass 20 with the concave surface upward in the lamination device 12. In this process, the first grabbing mechanism 13 can not touch the lamination surface of the first glass 20.

[0085] However, the second glass 30 at the lamination starting station has its lamination surface as a convex surface at this time. In the transfer process, the lamination surface needs to be avoided as much as possible. Therefore, the first sub-conveying section 1121 and the second sub-conveying section 1122 need to be switched to the spaced-apart state first to provide a space for the first gripping mechanism 13 to pass through the space 1126 between the two sub-conveying sections from bottom to top to act on the concave surface of the second glass 30, and then transfer the second glass 30 to the lamination device 12, and place the second glass 30 with the concave surface upward in the lamination device 12.

[0086] It can be understood that the first gripping mechanism 13 is in direct contact with the two sub-conveying sections when transferring the first glass 20, and the two sub-conveying sections are in a spaced-apart state when the first gripping mechanism 13 transfers the second glass 30.

[0087] As shown in Figure 14 , the first gripping mechanism 13 includes a mechanical hand, and the hand of the mechanical hand is provided with a suction cup 145 for adsorbing and fixing the first glass 20 and the second glass 30.

[0088] As shown in Figure 9 and Figure 10 , a support frame 113 is arranged below the second conveying section 112, and a notch 1131 is arranged on the support frame 113 below the second sub-conveying section 1122. The notch 1131 starts from below the junction of the first sub-conveying section 1121 and the second sub-conveying section 1122 and penetrates the support frame 113 along the conveying direction of the second sub-conveying section 1122, and the notch 1131 penetrates at least one side surface of the support frame 113 along a direction perpendicular to the conveying direction.

[0089] The hand of the first gripping mechanism 13 moves from outside the support frame 113 along the notch 1131 to below the space 1126 between the two sub-conveying sections and grips the second glass 30 on the second conveying section 112, and then directly passes through the space between the two sub-conveying sections and moves above the second conveying section 112.

[0090] When the first glass 20 and the second glass 30 move on the second conveying section 112, the two sub-conveying sections are in direct contact to make the conveying more stable. When the second glass 30 is moved to the position, the two sub-conveying sections are switched to the spaced-apart state.

[0091] Specifically, as shown in Figure 9 and Figure 10As shown in the figure, in one embodiment, the first sub-conveying section 1121 comprises a telescopic conveying belt 1123, which is arranged on a sliding module comprising a second sliding rail and a second sliding block slidingly fitted on the second sliding rail, the guiding direction of the second sliding rail is parallel to the conveying direction, one end of the telescopic conveying belt 1123 away from the second sub-conveying section 1122 is fixed relative to the second sliding rail, and the other end of the telescopic conveying belt 1123 close to the second sub-conveying section 1122 is connected with the second sliding block.

[0092] The telescopic state of the telescopic conveying belt 1123 can be adjusted by sliding the second sliding block on the second sliding rail, so that the telescopic conveying belt 1123 can move to a state of being spaced from the second sub-conveying section 1122.

[0093] Specifically, a telescopic driving member such as a pneumatic cylinder can be arranged between the second sliding block and the second sliding rail to drive the second sliding block to move on the second sliding rail.

[0094] In the present application, the telescopic conveying belt 1123 refers to a conveying belt whose length in the conveying direction can be changed, which includes a conveying belt made of elastic material, which is stretched by the elasticity of the material to meet the aforementioned requirements, and also includes a conveying belt which can adjust the length in the conveying direction by winding on a reel. For example, one end of the telescopic conveying belt 1123 close to the second sub-conveying section 1122 is wound on a reel, the axis of the reel is perpendicular to the conveying direction of the conveying belt, the reel is arranged on the second sliding block, and the reel can rotate relative to the second sliding block to adapt to the movement of the second sliding block. When the second sliding block moves towards the second sub-conveying section 1122, the reel rotates in a first direction to release the wound conveying belt, and when the second sliding block moves towards the first conveying section 111, the reel rotates in a direction opposite to the first direction to wind the conveying belt on the reel.

[0095] As shown in the figures, Figure 9 and Figure 10 The second sub-conveying section 1122 further comprises a first conveying belt 1124 arranged in the conveying direction of the conveying mechanism 11. The telescopic conveying belt 1123 can be switched between the state of being in contact with the first conveying belt 1124 and the state of being spaced from the first conveying belt 1124 by changing the length in the conveying direction.

[0096] In the embodiment as shown in the figures, Figure 9 and Figure 10 The second sub-conveying section 1122 comprises two first conveying belts 1124 arranged side by side, and the first sub-conveying section 1121 comprises two telescopic conveying belts 1123 arranged side by side.

[0097] Further, in some embodiments, a slope 1125 is provided on the first sub-conveying section 1121 away from the second sub-conveying section 1122, and the edge of the slope 1125 that is aligned with the first conveying section 111 has a lower horizontal level, so as to facilitate the transition of the glass on the first conveying section 111 to the first sub-conveying section 1121.

[0098] As shown in FIG. 1, in some embodiments, the splicing device 12 includes a servo module 121, and the splicing device 12 is provided with a first placement position 122, a second placement position 123 and a splicing position 124, and the servo module 121 is arranged between the first placement position 122 and the splicing position 124, and is used to transport the glass located at the first placement position 122 to the splicing position 124. Figures 11 to 13

[0099] The first grabbing mechanism 13 has at least two working modes. In one of the working modes, the first grabbing mechanism 13 can transfer the first glass 20 transported to the turning-over starting position to the servo module 121 located at the first placement position 122, and turn over the first glass 20 during the transferring process. The first glass 20 transferred to the first placement position 122 is then transported to the splicing position 124 by the servo module 121. In another working mode, the first grabbing mechanism 13 can transfer the second glass 30 transported to the turning-over starting position to the second placement position 123, and turn over the second glass 30 during the transferring process.

[0100] The second grabbing mechanism 14 can place the film 40 on the splicing surface of the first glass 20 located at the splicing position 124, and then place the second glass 30 at the second placement position 123 on the film 40, so that the first glass 20, the film 40 and the second glass 30 are spliced together.

[0101] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0102] ​In addition, the terms "first", "second", etc. are used only for the purpose of description and do not imply or imply relative importance or implicitly indicate the number of indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified.

[0103] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0104] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0105] The technical features of the above embodiments can be combined in any way. In order to make the description simple, not all possible combinations of technical features in the above embodiments are described, but as long as the combination of technical features does not exist Contradiction, it should be considered as the scope of the present application.

[0106] The above embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it cannot be understood as a limitation on the scope of the patent. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the scope of protection of the present application patent should be subject to the appended claims.

Claims

1. A gripping mechanism, characterized in that, The grabbing mechanism comprises at least two grabbing heads, each of which is used for grabbing different parts of the film, wherein a part of the grabbing heads have a first positioning surface for contacting the film, and another part of the grabbing heads have a second positioning surface for contacting the film, and the two parts of the grabbing heads are movably connected so that there are a first state and a second state between them, the included angle between the first positioning surface and the second positioning surface in the first state is a1, the included angle between the first positioning surface and the second positioning surface in the second state is a2, and a1 is not equal to a2, and the distance between any point on the first positioning surface and any point on the second positioning surface is equal in the first state and the second state; The grabbing head with the first positioning surface is a first grabbing head, and the grabbing head with the second positioning surface is a second grabbing head; The second grabbing head is provided with a first sliding rail, the first sliding rail is movably connected with a first sliding block, the first sliding block is movably connected with the first grabbing head through a first rotating shaft, and the sliding direction of the first sliding block on the first sliding rail is perpendicular to the axis direction of the first rotating shaft; The second grabbing head is further provided with a guide element, one end of the first grabbing head is movably connected with the guide element, the guide direction of the guide element is perpendicular to the axis direction of the first rotating shaft, and the guide direction of the guide element intersects with the sliding direction of the first sliding block on the first sliding rail.

2. The grasping mechanism of claim 1, wherein, The first grabbing head and the second grabbing head can rotate relative to each other, and the axis of rotation is parallel to the first positioning surface and the second positioning surface, and the first grabbing head and the second grabbing head can move relative to each other, and the moving direction intersects with the axis of relative rotation between them.

3. The grasping mechanism of claim 2, wherein, The first grabbing head and the second grabbing head are movably connected through a first rotating shaft, the first positioning surface and the second positioning surface are parallel to the axis direction of the first rotating shaft, and the first rotating shaft is movable relative to the first grabbing head and / or the second grabbing head, and the sliding direction is perpendicular to the axis direction of the first rotating shaft.

4. The grasping mechanism of claim 1, wherein, The guide element is provided with a guide groove, and the first grabbing head is further provided with a guide wheel, the guide wheel is movably arranged in the guide groove, and the guide wheel is not located on the axis of the first rotating shaft.

5. The gripping mechanism according to any one of claims 1 to 4, characterized in that Each of the grabbing heads comprises a support and a plurality of suction cups arranged on the support, wherein the suction surfaces of all the suction cups on a part of the supports constitute the first positioning surface, and the suction surfaces of all the suction cups on another part of the supports constitute the second positioning surface, and the two parts of the supports are movably connected so that there are the first state and the second state between them.

6. The gripping mechanism according to any one of claims 1 to 4, characterized in that The grabbing mechanism comprises two grabbing heads, one of which has the first positioning surface for contacting the film, and the other of which has the second positioning surface for contacting the film, and the two grabbing heads are movably connected so that there are the first state and the second state between them. Alternatively, the grabbing mechanism comprises three grabbing heads, one of which has the second positioning surface for contacting the film, and the other two have the first positioning surface for contacting the film, and the two grabbing heads with the first positioning surface are respectively located on the two sides of the grabbing head with the second positioning surface, and each grabbing head with the first positioning surface is movably connected with the grabbing head with the second positioning surface, so that the first state and the second state exist between each grabbing head with the first positioning surface and the grabbing head with the second positioning surface.

7. A method of picking a membrane, characterized in that The film is grabbed by using the grabbing mechanism as claimed in any one of claims 1 to 6, and the grabbing method comprises the following steps: Step 1: each grabbing head is used to grab different parts of the film, and at this time the first positioning surface and the second positioning surface contacting different parts of the film are located in the same plane; Step 2: the relative movement between the grabbing heads is controlled to form an included angle between the first positioning surface and the second positioning surface, and the film is bent.

8. The membrane grab method of claim 7, wherein, Before and after the film is bent, the distance between any point on the first positioning surface and any point on the second positioning surface is always equal.

9. The membrane sheet grasping method according to claim 7, characterized by, In step 2, the film is bent to form a V shape.

10. A laminated glazing system characterized in that, The film splicing device comprises a splicing device and a grabbing mechanism as claimed in any one of claims 1 to 6, the splicing device is provided with a splicing position, and the grabbing mechanism is used to transfer the film to the splicing surface of the first glass located at the splicing position.

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