An apparatus for replacing a glass cassette

Abstract

The present invention belongs to the field of automation technology, and discloses a device for replacing glass chucks, which includes a cleaning chuck operation device, a strengthening chuck transfer device, a picking vision photographing device, a receiving vision photographing device, and a picking and placing manipulator device. The upper layer of the first double-layer roller assembly receives the full cleaning chucks flowing in, and the lower layer of the first double-layer roller assembly receives the empty cleaning chucks flowing out; the lower layer of the second double-layer roller assembly receives the empty strengthening chucks flowing in, and the upper layer of the second double-layer roller assembly receives the full strengthening chucks flowing out; the picking vision photographing device photographs and positions the full cleaning chucks; the receiving vision photographing device photographs and positions the empty strengthening chucks; the manipulator body drives the picking suction cup assembly to suck the glass of the full cleaning chuck and place it into the empty strengthening chuck. The device for replacing glass chucks of the present invention realizes the transfer of glass between different chucks through the manipulator, with high transfer efficiency, and avoids leaving marks on the glass surface by manual operation, thereby affecting the product yield.

Description

Technical Field

[0001] The present invention relates to the field of automation technology, and particularly to a device for replacing a glass chuck. Background Art

[0002] The glass production process includes multiple processes. The fixture for transferring glass between multiple processes is called a chuck. The chuck generally has a V-shaped groove, and the V-shaped groove can clamp the glass. Among them, the glass processing process includes two connected processes: a cleaning section and a strengthening section. Glass cleaning is to clean the surface dirt during the glass production process, and glass strengthening refers to improving the strength of the glass by changing the chemical composition of the glass surface, that is, after the glass comes out of the cleaning machine, it needs to enter the strengthening furnace for high-temperature treatment to improve its toughness. The chuck entering the cleaning machine has relatively high requirements for anti-rust performance and cleanability, and the chuck at this station is generally made of stainless steel + polytetrafluoroethylene material; while the chuck entering the strengthening furnace needs to have high-temperature resistance, and the chuck at this station is generally made of stainless steel + fireproof cloth material. Between the two processes, the glass needs to be transferred and placed between the cleaning chuck and the strengthening chuck. In the existing glass production process, this work is usually completed manually. The operator takes out the glass from the cleaning chuck that exits the cleaning machine and then inserts it piece by piece into the strengthening chuck that enters the strengthening furnace. The manual operation efficiency is low, and the manual operation is likely to leave contact marks on the glass surface, thereby affecting the product yield. Summary of the Invention

[0003] The purpose of the present invention is to provide a device for replacing a glass chuck, which can realize the transfer of glass between different chucks through a pick-and-place manipulator device, with relatively high transfer efficiency, and avoid the problem that manual operation is likely to leave marks on the glass surface and thus affect the product yield.

[0004] To achieve this purpose, the present invention adopts the following technical solutions:

[0005] Provide a device for replacing a glass chuck, which is used to transfer the glass on the cleaning chuck to the strengthening chuck. The device for replacing a glass chuck includes:

[0006] A cleaning chuck running device, the cleaning chuck running device includes a first double-layer roller assembly. The upper layer of the first double-layer roller assembly is used to receive the full-load cleaning chucks flowing in, and the lower layer of the first double-layer roller assembly is used to receive the empty-load cleaning chucks flowing out;

[0007] A strengthening chuck transfer device, the strengthening chuck transfer device includes a second double-layer roller assembly. The lower layer of the second double-layer roller assembly is used to receive the empty-load strengthening chucks flowing in, and the upper layer of the second double-layer roller assembly is used to receive the full-load strengthening chucks flowing out;

[0008] A material-taking vision photographing device, which is used to photograph and position the full-load cleaning jamming.

[0009] A material-receiving vision photographing device, which is used to photograph and position the empty-load strengthening jamming.

[0010] A material-taking and placing manipulator device, which includes a manipulator body and a material-taking suction cup assembly. The material-taking suction cup assembly can suck the glass on the full-load cleaning jamming, and the manipulator body is used to drive the material-taking suction cup assembly to place the glass on the empty-load strengthening jamming.

[0011] As a preferred structure of the present invention, the cleaning jamming operation device further includes a cleaning jamming inlet and outlet lifting assembly, which is arranged at the inflow end of the first double-layer roller assembly. The cleaning jamming inlet and outlet lifting assembly includes:

[0012] A first lifting support frame;

[0013] A first roller frame, which can reciprocally lift along the height direction of the first lifting support frame to align with the upper layer or the lower layer of the first double-layer roller assembly. The first roller frame includes a plurality of first rollers arranged side by side, and the first rollers are used to convey the full-load cleaning jamming or the empty-load cleaning jamming;

[0014] A first centering and clamping mechanism, which includes two relatively arranged first clamping plates. The two first clamping plates can simultaneously approach or move away from each other to adjust the position of the full-load cleaning jamming or the empty-load cleaning jamming relative to the first roller.

[0015] As a preferred structure of the present invention, the first centering and clamping mechanism further includes:

[0016] A plurality of support plates, which are arranged at intervals. The support plates can lift the full-load cleaning jamming to separate it from the first roller;

[0017] A transmission gear;

[0018] A driving rack, one end of which is meshed with one side of the transmission gear, and the other end is fixed to the first clamping plate;

[0019] A driving cylinder, the output end of which is fixedly connected to the driving rack and is used to drive the driving rack to reciprocate;

[0020] A transmission rack, one end of the transmission rack is meshed on the side of the transmission gear away from the driving rack, and the other end is fixed to the first clamping plate; the transmission gear rotates to make the driving rack and the transmission rack move towards each other or move in the opposite direction, and the driving rack and the transmission rack respectively drive the two first clamping plates to approach or move away from each other simultaneously.

[0021] As a preferred structure of the present invention, the upper layer of the first double-layer drum assembly includes a plurality of second drums arranged side by side, the lower layer of the first double-layer drum assembly includes a plurality of third drums arranged side by side, the rotation directions of the second drums and the third drums are opposite, and the first double-layer drum assembly further includes:

[0022] A first blocking mechanism, the first blocking mechanism includes a first blocking plate that can be lifted and lowered, and the first blocking plate is used to block the full-load cleaning jam or the empty-load cleaning jam;

[0023] A first sensor, the first sensor is used to sense the full-load cleaning jam on the second drum or sense the empty-load cleaning jam on the third drum, and the first sensor is communicatively connected to the first blocking mechanism.

[0024] As a preferred structure of the present invention, the cleaning jam operation device further includes a cleaning jam picking and lifting assembly, the cleaning jam picking and lifting assembly is arranged at the outflow end of the first double-layer drum assembly, and the cleaning jam picking and lifting assembly includes:

[0025] A second lifting support frame, a first barcode scanner is arranged on the second lifting support frame, and the first barcode scanner is used to read the two-dimensional code on the full-load cleaning jam;

[0026] A second drum frame mechanism, the second drum frame mechanism can reciprocally lift and lower along the height direction of the second lifting support frame to align with the upper layer or the lower layer of the second double-layer drum assembly, the second drum frame mechanism includes a plurality of fourth drums arranged side by side, and the fourth drums are used to convey the full-load cleaning jam or the empty-load cleaning jam;

[0027] A second centering and clamping mechanism, the second centering and clamping mechanism includes two second clamping plates arranged oppositely, and the two second clamping plates can approach or move away from each other simultaneously to adjust the position of the full-load cleaning jam relative to the fourth drum.

[0028] As a preferred structure of the present invention, the picking vision photographing device includes:

[0029] A first gantry, the first gantry is arranged above the cleaning jam operation device;

[0030] The first detection camera is arranged at one end of the full - material cleaning jam;

[0031] The first detection light source faces one end face of the full - material cleaning jam;

[0032] The first 3 - axis module is arranged on the first gantry, and the first 3 - axis module is used to drive the first detection camera and the first detection light source to move.

[0033] As a preferred structure of the present invention, the material - receiving vision photographing device includes:

[0034] The second gantry is arranged above the strengthening jam transfer device;

[0035] The second detection camera and the third detection camera are respectively arranged at both ends of the empty - material strengthening jam;

[0036] The second detection light source and the third detection light source respectively face the end faces at both ends of the glass;

[0037] The second 3 - axis module and the third 3 - axis module are both arranged on the second gantry. The second 3 - axis module is used to drive the second detection camera and the second detection light source to move, and the third 3 - axis module is used to drive the third detection camera and the third detection light source to move.

[0038] As a preferred structure of the present invention, the device for replacing the glass jam further includes a secondary positioning device, and the secondary positioning device includes:

[0039] The secondary positioning camera is used to photograph and position the glass sucked by the material - taking suction cup assembly;

[0040] The fourth detection light source and the fifth detection light source are arranged perpendicular to each other, and the fourth detection light source and the fifth detection light source respectively align with two sides of the glass.

[0041] As a preferred structure of the present invention, the material - taking suction cup assembly includes:

[0042] The suction cup frame;

[0043] Two first suction cup arms, multiple suction cups are arranged on the first suction cup arms, the two first suction cup arms are arranged at intervals, and the first suction cup arms are slidably arranged on the suction cup frame to adjust the distance;

[0044] A second suction cup arm, on which a plurality of the suction cups are arranged. The second suction cup arm is detachably connected to the suction cup holder and is arranged between the two first suction cup arms.

[0045] As a preferred structure of the present invention, the material taking suction cup assembly further includes:

[0046] Two synchronous belt pulleys, which are respectively arranged at both ends of the suction cup holder, and the two synchronous belt pulleys rotate in the same direction;

[0047] An endless synchronous belt, which is sleeved on the synchronous belt pulleys to form two half rings, and the two first suction cup arms are respectively fixedly connected to the two half rings to approach or move away from each other.

[0048] Advantages of the present invention:

[0049] For the equipment for replacing the glass plug provided by the present invention, the cleaning plug filled with glass flows into from the upper layer of the first double-layer roller assembly. After the glass is transferred, the strengthening plug filled with glass flows out from the upper layer of the second double-layer roller assembly. In this way, the glass does not need to pass through the lower layer of the first double-layer roller assembly or the lower layer of the second double-layer roller assembly, avoiding impurities brought by the rolling of the upper roller from falling on the glass; the material taking vision photographing device obtains the position information of the glass in the full-material cleaning plug, and the material receiving vision photographing device obtains the position information of the empty-material strengthening plug. The manipulator body drives the material taking suction cup assembly according to the position information fed back by the material taking vision photographing device and the material receiving vision photographing device, and places the glass on the empty-material strengthening plug, realizing the replacement and transfer of the glass from the cleaning plug to the strengthening plug, with relatively high transfer efficiency, and avoiding the problem that manual operation is likely to leave marks on the glass surface and thus affect the product yield; the equipment has strong versatility and is also applicable to the fixture switching process of thin plate products such as photovoltaic panels, PCB boards, and metal plates during production, and has a broad application prospect. Description of the Drawings

[0050] Figure 1 is a schematic structural diagram of the equipment for replacing the glass plug provided by an embodiment of the present invention;

[0051] Figure 2 is a schematic structural diagram of the cleaning plug inlet and outlet lifting assembly provided by an embodiment of the present invention;

[0052] Figure 3 is a partial schematic structural diagram of the first centering and clamping mechanism provided by an embodiment of the present invention;

[0053] Figure 4 is a schematic structural diagram of the first double-layer roller assembly provided by an embodiment of the present invention;

[0054] Figure 5It is a schematic structural diagram of a cleaning cassette picking and lifting assembly provided by an embodiment of the present invention;

[0055] Figure 6 It is a schematic structural diagram of a picking vision photographing device provided by an embodiment of the present invention;

[0056] Figure 7 It is a schematic structural diagram of a receiving vision photographing device provided by an embodiment of the present invention;

[0057] Figure 8 It is a schematic structural diagram of a secondary positioning device provided by an embodiment of the present invention;

[0058] Figure 9 It is a schematic structural diagram of a pick-and-place manipulator device provided by an embodiment of the present invention.

[0059] In the figure:

[0060] 1. Cleaning cassette running device; 11. First double-layer roller assembly; 111. Second roller; 112. Third roller; 113. First blocking mechanism; 1131. First blocking plate; 114. First sensor; 12. Cleaning cassette in-and-out lifting assembly; 121. First lifting support frame; 122. First roller frame; 1221. First roller; 123. First centering and clamping mechanism; 1231. First clamping plate; 1232. Support plate; 1233. Transmission gear; 1234. Driving rack; 1235. Driving cylinder; 1236. Transmission rack; 13. Cleaning cassette picking and lifting assembly; 131. Second lifting support frame; 132. First barcode scanner; 133. Second roller frame mechanism; 1331. Fourth roller; 134. Second centering and clamping mechanism; 1341. Second clamping plate;

[0061] 2. Reinforcement cassette transfer device; 21. Second double-layer roller assembly; 22. Reinforcement cassette in-and-out lifting assembly; 23. Reinforcement cassette picking and lifting assembly;

[0062] 3. Picking vision photographing device; 31. First gantry; 32. First detection camera; 33. First detection light source; 34. First 3-axis module;

[0063] 4. Receiving vision photographing device; 41. Second gantry; 42. Second detection camera; 43. Third detection camera; 44. Second detection light source; 45. Third detection light source; 46. Second 3-axis module; 47. Third 3-axis module;

[0064] 5. Pick-and-place manipulator device; 51. Manipulator body; 52. Picking suction cup assembly; 521. Suction cup frame; 522. First suction cup arm; 5221. Suction cup; 523. Second suction cup arm; 524. Synchronous belt pulley; 525. Ring-shaped synchronous belt;

[0065] 6. Secondary positioning device; 61. Secondary positioning camera; 62. Fourth detection light source; 63. Fifth detection light source;

[0066] 100. Cleaning jam; 200. Strengthening jam; 300. Glass. Detailed implementation manner

[0067] The present invention will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. Additionally, it should be noted that for the sake of description, only the parts related to the present invention are shown in the drawings, rather than all the structures.

[0068] In the description of the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0069] In the present invention, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features between them. Moreover, the first feature being "above", "over", and "on" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "under", and "beneath" the second feature includes the first feature being directly below and obliquely below the second feature, or simply indicating that the horizontal height of the first feature is lower than that of the second feature.

[0070] In the description of this embodiment, the orientation or positional relationships such as "above", "below", "left", and "right" are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of description and simplifying the operation, 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 thus cannot be understood as a limitation to the present invention. In addition, the terms "first" and "second" are only used for distinction in description and do not have special meanings.

[0071] The glass production process includes multiple processes. The fixture used to transfer the glass between multiple processes is called a cassette. Generally, the cassette has a V-shaped groove, and the V-shaped groove can clamp the glass. Among them, the glass processing process includes two connected processes: a cleaning section and a strengthening section. Glass cleaning is to clean the surface dirt during the glass production process, and glass strengthening refers to improving the strength of the glass by changing the chemical composition of the glass surface. That is, after the glass comes out of the cleaning machine, it needs to enter the strengthening furnace for high-temperature treatment to improve its toughness. The cassette entering the cleaning machine has high requirements for rust prevention performance and cleanability. The cassette at this station is made of stainless steel + polytetrafluoroethylene as a whole; while the cassette entering the strengthening furnace needs to have high-temperature resistance, and the cassette at this station is made of stainless steel + fireproof cloth as a whole. Between the two processes, the glass needs to be transferred and placed between the cleaning cassette and the strengthening cassette. In the existing glass production process, this work is usually done manually. The operator takes out the glass from the cleaning cassette that comes out of the cleaning machine and then inserts it piece by piece into the strengthening cassette that enters the strengthening furnace. The manual operation efficiency is low, and the manual operation is likely to leave contact marks on the glass surface, thereby affecting the product yield.

[0072] To solve the above problems, as Figures 1-9 shown, the embodiment of the present invention provides a device for replacing a glass cassette. The device for replacing a glass cassette is used to transfer the glass 300 on the cleaning cassette 100 to the strengthening cassette 200. The device for replacing a glass cassette includes a cleaning cassette operation device 1, a strengthening cassette transfer device 2, a pick-up vision photographing device 3, a receiving vision photographing device 4, and a pick-and-place manipulator device 5. The cleaning cassette operation device 1 includes a first double-layer roller assembly 11. The upper layer of the first double-layer roller assembly 11 is used to receive the full-load cleaning cassettes flowing in, and the lower layer of the first double-layer roller assembly 11 is used to receive the empty-load cleaning cassettes flowing out; the strengthening cassette transfer device 2 includes a second double-layer roller assembly 21. The lower layer of the second double-layer roller assembly 21 is used to receive the empty-load strengthening cassettes flowing in, and the upper layer of the second double-layer roller assembly 21 is used to receive the full-load strengthening cassettes flowing out. That is, the cleaning cassette 100 filled with the glass 300 flows in from the upper layer of the first double-layer roller assembly 11. After the glass 300 is transferred, the strengthening cassette 200 filled with the glass 300 flows out from the upper layer of the second double-layer roller assembly 21. In this way, the glass 300 does not need to pass through the lower layer of the first double-layer roller assembly 11 or the lower layer of the second double-layer roller assembly 21, avoiding impurities brought by the rolling of the upper roller from falling on the glass 300.

[0073] The AGV vehicle transports the full-load cleaning jamming from the previous process to the cleaning jamming transfer device 1 and transports the empty-load strengthening jamming to the strengthening jamming transfer device 2. After all the glass 300 in the full-load cleaning jamming is transferred to the empty-load strengthening jamming, the full-load cleaning jamming becomes an empty-load cleaning jamming, and the empty-load strengthening jamming becomes a full-load strengthening jamming. The AGV vehicle can then transport the empty-load cleaning jamming and the full-load strengthening jamming away, achieving full automation.

[0074] The material-taking vision photographing device 3 is used to photograph and position the full-load cleaning jamming to obtain the position information of the glass 300 in the full-load cleaning jamming; the material-receiving vision photographing device 4 is used to photograph and position the empty-load strengthening jamming to obtain the position information of the empty-load strengthening jamming. The pick-and-place manipulator device 5 includes a manipulator body 51 and a material-taking suction cup assembly 52. The material-taking suction cup assembly 52 can suck the glass 300 on the full-load cleaning jamming, and the manipulator body 51 is used to drive the material-taking suction cup assembly 52 to place the glass 300 on the empty-load strengthening jamming according to the position information fed back by the material-taking vision photographing device 3 and the material-receiving vision photographing device 4. The manipulator body 51 adopts a 6-axis manipulator, and its specific structure and working principle are prior arts in the field, which can realize various spatial position changes of the glass 300.

[0075] The equipment for replacing the glass jamming in the embodiment of the present invention can realize the replacement and transfer of the glass 300 from the cleaning jamming 100 to the strengthening jamming 200 through the pick-and-place manipulator device 5, with a relatively high transfer efficiency, avoiding the problem that manual operation is likely to leave marks on the surface of the glass 300, thereby affecting the product yield; the equipment has strong versatility and is also applicable to the fixture switching process in the production of thin plate products such as photovoltaic panels, PCB boards, and metal plates, and has a broad application prospect.

[0076] As a preferred solution, the cleaning cartridge running device 1 further includes a cleaning cartridge inlet / outlet lifting assembly 12. The cleaning cartridge inlet / outlet lifting assembly 12 is arranged at the inflow end of the first double-layer drum assembly 11. The cleaning cartridge inlet / outlet lifting assembly 12 includes a first lifting support frame 121, a first drum frame 122, and a first centering and clamping mechanism 123. The first drum frame 122 can reciprocally lift in the height direction of the first lifting support frame 121 to align with the upper layer or the lower layer of the first double-layer drum assembly 11. When the first drum frame 122 aligns with the upper layer of the first double-layer drum assembly 11, the full-load cleaning cartridges are directed towards the pick-and-place manipulator device 5; when the first drum frame 122 aligns with the lower layer of the first double-layer drum assembly 11, the empty-load cleaning cartridges flow out. The first drum frame 122 includes a plurality of first drums 1221 arranged side by side, and the first drums 1221 are used to convey full-load cleaning cartridges or empty-load cleaning cartridges. The first centering and clamping mechanism 123 includes two relatively arranged first clamping plates 1231, and the two first clamping plates 1231 can simultaneously approach or move away from each other to adjust the position of the full-load cleaning cartridges or empty-load cleaning cartridges relative to the first drums 1221.

[0077] Specifically, the cleaning cartridge running device 1 further includes a limiting mechanism. The limiting rod of the limiting mechanism can extend and retract on the first lifting support frame 121 and can support the first drum frame 122 when extended. When the structural components below the first drum frame 122 need to be maintained, first lift the first drum frame 122, loosen the fixing handles of the limiting mechanisms on both sides, extend the limiting rod to support the first drum frame 122, and then lock the fixing handles. At this time, the first drum frame 122 can be prevented from slipping, increasing the reliability during the maintenance of the cleaning cartridge running device 1.

[0078] As a preferred solution, the first pair of clamping mechanisms 123 further includes a plurality of support plates 1232, a transmission gear 1233, a driving rack 1234, a driving cylinder 1235, and a transmission rack 1236. The plurality of support plates 1232 are arranged at intervals, and the support plates 1232 can lift the full-load cleaning jam out of the first drum 1221. One end of the driving rack 1234 is engaged with one side of the transmission gear 1233, and the other end fixes the first clamping plate 1231. The output end of the driving cylinder 1235 is fixedly connected to the driving rack 1234 for driving the driving rack 1234 to reciprocate. One end of the transmission rack 1236 is engaged with the side of the transmission gear 1233 away from the driving rack 1234, and the other end fixes the first clamping plate 1231; the transmission gear 1233 rotates to make the driving rack 1234 and the transmission rack 1236 move towards or away from each other, and the driving rack 1234 and the transmission rack 1236 respectively drive the two first clamping plates 1231 to approach or move away from each other simultaneously; when the two first clamping plates 1231 approach each other simultaneously, the cleaning jam 100 can be clamped; since the two first clamping plates 1231 act simultaneously, the cleaning jam 100 can be positioned in the middle of the first drum rack 122, improving the position accuracy of the cleaning jam 100.

[0079] As a preferred solution, the upper layer of the first double-layer drum assembly 11 includes a plurality of second drums 111 arranged side by side, the lower layer of the first double-layer drum assembly 11 includes a plurality of third drums 112 arranged side by side, the rotation directions of the second drums 111 and the third drums 112 are opposite, and the first double-layer drum assembly 11 further includes a first blocking mechanism 113 and a first sensor 114; both the upper layer and the lower layer of the first double-layer drum assembly 11 are provided with a first blocking mechanism 113 and a first sensor 114, and the first blocking mechanism 113 is provided at both ends of the upper layer and the lower layer of the first double-layer drum assembly 11. The first blocking mechanism 113 at the inflow end is used to control whether the full-load cleaning plug can flow into the first double-layer drum assembly 11, and the first blocking mechanism 113 at the outflow end is used to control whether the full-load cleaning plug can flow out. The first blocking mechanism 113 includes a liftable first blocking plate 1131, and the first blocking plate 1131 is used to block the full-load cleaning plug or the empty-load cleaning plug. The first sensor 114 is used to sense the full-load cleaning plug on the second drum 111 or sense the empty-load cleaning plug on the third drum 112, and the first sensor 114 is communicatively connected to the first blocking mechanism 113. When the full-load cleaning plug flows to the outflow end of the cleaning plug inlet and outlet lifting assembly 12, when there is a buffer vacancy in the front first double-layer drum assembly 11, the first blocking plate 1131 of the first blocking mechanism 113 descends, and the full-load cleaning plug flows into the first double-layer drum assembly 11. The full-load cleaning plug flows into the upper layer of the first double-layer drum assembly 11 from the cleaning plug inlet and outlet lifting assembly 12. There is a pair of first sensors 114 in the middle and the outflow end of the upper layer of the first double-layer drum assembly 11. If there is a full-load cleaning plug waiting to be picked up and placed at the outflow end of the upper layer, the just-flowed-in full-load cleaning plug will stop at the middle position of the upper layer; if the picking and placing manipulator device 5 completes the picking of the previous full-load cleaning plug, the first blocking mechanism 113 at the outflow end of the upper layer acts to let the full-load cleaning plug waiting to be picked up at the upper layer flow out (the upper layer and the lower layer of the first double-layer drum assembly 11 can each buffer two cleaning plugs 100).

[0080] As a preferred solution, the cleaning cartridge transfer device 1 further includes a cleaning cartridge loading and unloading lifting assembly 13. The cleaning cartridge loading and unloading lifting assembly 13 is arranged at the outflow end of the first double-layer roller assembly 11. The cleaning cartridge loading and unloading lifting assembly 13 includes a second lifting support frame 131, a second roller frame mechanism 133, and a second centering and clamping mechanism 134. A first barcode scanner 132 is arranged on the second lifting support frame 131. The first barcode scanner 132 is used to read the two-dimensional code on the full-load cleaning cartridge. The second roller frame mechanism 133 can reciprocally lift and lower along the height direction of the second lifting support frame 131 to align with the upper layer or the lower layer of the second double-layer roller assembly 21. The second roller frame mechanism 133 includes a plurality of fourth rollers 1331 arranged side by side. The fourth rollers 1331 are used to convey full-load cleaning cartridges or empty-load cleaning cartridges. The second centering and clamping mechanism 134 includes two oppositely arranged second clamping plates 1341. The two second clamping plates 1341 can simultaneously approach or move away from each other to adjust the position of the full-load cleaning cartridge relative to the fourth rollers 1331. The full-load cartridge enters the cleaning cartridge loading and unloading lifting assembly 13 through the upper layer of the first double-layer roller assembly 11. The second lifting support frame 131 of the cleaning cartridge loading and unloading lifting assembly 13 descends, so that the full-load cleaning cartridge contacts the second centering and clamping mechanism 134. The second centering and clamping mechanism 134 acts to center and position the full-load cleaning cartridge. Then, the cleaning cartridge loading and unloading lifting assembly 13 raises the full-load cleaning cartridge to the loading and unloading height. The manipulator body 51 starts to load and unload. During the lifting process of the full-load cleaning cartridge, the first barcode scanner 132 completes the reading of the barcode information on the cleaning cartridge 100, and the reading efficiency is relatively high. After the glass 300 in the full-load cleaning cartridge is emptied, the second lifting support frame 131 descends to the height of the lower layer of the first double-layer roller assembly 11, and the empty-load cleaning cartridge flows onto the fourth rollers 1331 in the lower layer of the first double-layer roller assembly 11.

[0081] It should be noted that the strengthening cartridge transfer device 2 also includes a strengthening cartridge loading and unloading lifting assembly 22 and a strengthening cartridge loading and unloading lifting assembly 23. The structures and working processes of the strengthening cartridge loading and unloading lifting assembly 22 and the cleaning cartridge loading and unloading lifting assembly 12 are similar; the structures and working processes of the strengthening cartridge loading and unloading lifting assembly 23 and the cleaning cartridge loading and unloading lifting assembly 13 are similar, and thus will not be elaborated in this embodiment.

[0082] As a preferred solution, the material-taking vision photographing device 3 includes a first gantry 31, a first detection camera 32, a first detection light source 33, and a first 3-axis module 34. The first gantry 31 is disposed above the cleaning and jamming operation device 1. The first detection camera 32 is disposed at one end of the full-load cleaning cartridge. The first detection light source 33 faces one end face of the full-load cleaning cartridge. The first structure and working process are similarly disposed on the first gantry 31. The first 3-axis module 34 is used to drive the first detection camera 32 and the first detection light source 33 to move, so that the first detection camera 32 and the first detection light source 33 can move in three directions of the X-axis, Y-axis, and Z-axis. The material-taking vision photographing device 3 feeds back the position information of the glass 300 captured to the manipulator body 51, facilitating the manipulator body 51 to smoothly take out the glass 300 from the full-load cleaning cartridge. The specific structure of the first 3-axis module 34 is the prior art in the field and can be realized by structures such as a sliding module and a motor screw rod. No specific limitation is made in this embodiment.

[0083] As a preferred solution, the material-receiving vision photographing device 4 includes a second gantry 41, a second detection camera 42, a third detection camera 43, a second detection light source 44, a third detection light source 45, a second 3-axis module 46, and a third 3-axis module 47. The second gantry 41 is disposed above the strengthening cartridge transfer device 2. The second detection camera 42 and the third detection camera 43 are respectively disposed at both ends of the empty-load strengthening cartridge. The second detection light source 44 and the third detection light source 45 respectively face the end faces at both ends of the glass 300. The second 3-axis module 46 and the third 3-axis module 47 are both disposed on the second gantry 41. The second 3-axis module 46 is used to drive the second detection camera 42 and the second detection light source 44 to move, and the third 3-axis module 47 is used to drive the third detection camera 43 and the third detection light source 45 to move. Similarly, the specific structures of the second 3-axis module 46 and the third 3-axis module 47 are the same as those of the first 3-axis module 34, enabling the second detection camera 42 and the second detection light source 44, and the third detection camera 43 and the third detection light source 45 to move in three directions of the X-axis, Y-axis, and Z-axis to meet the position requirements of glass 300 with different sizes. The second detection camera 42 and the third detection camera 43 respectively photograph both ends of the empty-load strengthening cartridge. The second detection camera 42 and the third detection camera 43 respectively perform average compensation processing on the center pixel position, the characteristic pixels of the glass 300, and the position deviation values, which can not only detect the specific positions of each V-shaped groove of the empty-load strengthening cartridge, but also detect both ends of the glass 300 that has been placed in the empty-load strengthening cartridge. On the premise of ensuring the accurate position of the glass 300 to be placed subsequently, it can also avoid damage caused by the newly placed glass 300 touching the already placed glass 300, thereby improving the positioning accuracy of the manipulator body 51 to insert the glass 300 into the V-shaped groove. This material-receiving vision photographing device 4 with a dual camera is especially suitable for the manipulator body 51 to pick and place large-size glass, and can have a high positioning accuracy without using a high-resolution camera.

[0084] As a preferred solution, the device for replacing the glass plug further includes a secondary positioning device 6, which includes a secondary positioning camera 61, a fourth detection light source 62, and a fifth detection light source 63. The secondary positioning camera 61 is used to take pictures and position the glass 300 sucked by the material-taking suction cup assembly 52. The fourth detection light source 62 and the fifth detection light source 63 are arranged perpendicular to each other, and the fourth detection light source 62 and the fifth detection light source 63 are respectively aligned with two sides of the glass 300. After the picking and placing manipulator device 5 takes out the glass 300 from the full-material cleaning plug, the secondary positioning device 6 takes pictures of the corners of the glass 300 and feeds the information back to the manipulator body 51 to ensure that the manipulator body 51 can smoothly place the glass 300 into the empty-material strengthening plug. Combining with the feedback information of the material-collecting vision photographing device 4, the position accuracy and movement reliability of the manipulator body 51 when placing the glass 300 are further improved.

[0085] As a preferred solution, the material-taking suction cup assembly 52 includes a suction cup frame 521, two first suction cup arms 522, and a second suction cup arm 523. A plurality of suction cups 5221 are arranged on the first suction cup arm 522. The two first suction cup arms 522 are arranged at intervals, and the first suction cup arm 522 is slidably arranged on the suction cup frame 521 to adjust the distance. A plurality of suction cups 5221 are arranged on the second suction cup arm 523, and each suction cup 5221 is equipped with a vacuum check valve. The position of the suction cup 5221 or the number of suction cups 5221 can be adjusted according to the product size specification, and the attached drawings of this embodiment are not taken as a limitation. When encountering a small-sized glass 300 and some suction cups 5221 do not adsorb the product, the vacuum check valve enables the first suction cup arm 522 and the second suction cup arm 523 to also maintain the vacuum degree of the material-taking suction cup assembly 52. The second suction cup arm 523 is detachably connected to the suction cup frame 521 and is arranged between the two first suction cup arms 522. The distance between the two first suction cup arms 522 is adjustable and suitable for various glass 300 of different sizes; moreover, the second suction cup arm 523 is arranged between the two first suction cup arms 522, which is especially suitable for sucking thin plate parts (such as glass, PCB boards, and photovoltaic boards, etc.). Further, the main bodies of the suction cup frame 521 and other structural parts are all made of lightweight aluminum alloy to reduce the weight and further improve the movement accuracy of the manipulator body 51. When sucking a small-sized glass 300, the second suction cup arm 523 can be removed, and the distance between the two first suction cup arms 522 can be adjusted to be smaller than the size of the glass 300, which is convenient to use and has high adjustment efficiency.

[0086] Specifically, the material taking suction cup assembly 52 further includes two synchronous belt pulleys 524 and an endless synchronous belt 525. The two synchronous belt pulleys 524 are respectively arranged at both ends of the suction cup holder 521, and the two synchronous belt pulleys 524 rotate in the same direction. The endless synchronous belt 525 is sleeved on the synchronous belt pulleys 524 to form two half rings, and the two first suction cup arms 522 are respectively fixedly connected to the two half rings to approach or move away from each other. When the endless synchronous belt 525 rotates, the two first suction cup arms 522 can approach or move away from each other.

[0087] The working process of the device for replacing the glass plug in the embodiment of the present invention is as follows:

[0088] 1. The full-load cleaning plug flows to the cleaning plug material taking lifting assembly 13 through the AGV cart, and the second centering and clamping mechanism 134 positions it and flows it into the upper layer of the first double-layer roller assembly 11; at the same time, the empty-load strengthening plug flows to the strengthening plug inlet and outlet lifting assembly 22 through the AGV cart, and the strengthening plug inlet and outlet lifting assembly 22 positions it and flows it into the lower layer of the second double-layer roller assembly 21;

[0089] 2. The full-load cleaning plug flows from the upper layer of the first double-layer roller assembly 11 to the cleaning plug material taking lifting assembly 13, and the second centering and clamping mechanism 134 performs precise positioning on it, and the first barcode scanner 132 reads the barcode or two-dimensional code information on the full-load cleaning plug; at the same time, the empty-load strengthening plug flows from the lower layer of the second double-layer roller assembly 21 to the strengthening plug material taking lifting assembly 23, and the strengthening plug material taking lifting assembly 23 performs precise positioning on it and rises for scanning;

[0090] 3. The material taking vision photographing device 3 takes a photograph of the glass 300 in the full-load cleaning plug; the receiving material vision photographing device 4 takes a photograph of the V-shaped groove of the empty-load strengthening plug;

[0091] 4. The manipulator body 51 drives the material taking suction cup assembly 52 to suck the glass 300 according to the material taking vision photographing device 3. After taking it out, the glass 300 is placed at the secondary positioning device 6 for photographing, and then the manipulator body 51 places the sucked glass 300 into the empty-load strengthening plug. The manipulator body 51 resets and waits to suck the next piece of glass 300; the material taking vision photographing device 3 takes a photograph of the glass 300 in the full-load cleaning plug again, and at the same time, the receiving material vision photographing device 4 takes a photograph of the V-shaped groove of the empty-load strengthening plug;

[0092] 5. The manipulator body 51 drives the material taking suction cup assembly 52 to suck the glass 300 according to the material taking vision photographing device 3. After taking it out, the glass 300 is placed at the secondary positioning device 6 for photographing, and then the manipulator body 51 places the sucked glass 300 into the empty-load strengthening plug. The manipulator body 51 resets and waits to suck the next piece of glass 300, and circulates in sequence;

[0093] 6. After the glass 300 in the full-material cleaning cassette is emptied, the cleaning cassette material-taking lifting assembly 13 lowers the empty-material cleaning cassette to the lower layer height of the first double-layer roller assembly 11 and sends it to the lower layer of the first double-layer roller assembly 11 for reflux until it returns to the input end of the cleaning cassette in-and-out lifting assembly 12, and then the AGV vehicle takes away the empty-material cleaning cassette; meanwhile, after the empty-material strengthening cassette is filled with the glass 300, the strengthening cassette material-taking lifting assembly 23 raises the full-material strengthening cassette to the upper layer height and sends it to the upper layer of the second double-layer roller assembly 21 for reflux, and the second double-layer roller assembly 21 sends it to the strengthening cassette in-and-out lifting assembly 22, and then the AGV vehicle takes away the full-material strengthening cassette.

[0094] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the implementation manners of the present invention. For those of ordinary skill in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. An equipment for replacing glass cartridges, which is used to transfer the glass (300) on the cleaning cartridge (100) into the strengthening cartridge (200). Characterized in that, The equipment for replacing glass cartridges includes: A cleaning cartridge running device (1), the cleaning cartridge running device (1) includes a first double-layer roller assembly (11), a cleaning cartridge inlet and outlet lifting assembly (12) and a cleaning cartridge material-taking lifting assembly (13). The upper layer of the first double-layer roller assembly (11) is used to receive the incoming full-load cleaning cartridges, and the lower layer of the first double-layer roller assembly (11) is used to receive the outgoing empty cleaning cartridges. The cleaning cartridge inlet and outlet lifting assembly (12) is arranged at the inlet end of the first double-layer roller assembly (11), and the cleaning cartridge inlet and outlet lifting assembly (12) includes: A first lifting support frame (121); A first roller frame (122), the first roller frame (122) can reciprocally lift along the height direction of the first lifting support frame (121) to align with the upper layer of the first double-layer roller assembly (11) or the lower layer of the first double-layer roller assembly (11); The cleaning cartridge material-taking lifting assembly (13) is arranged at the outlet end of the first double-layer roller assembly (11), and the cleaning cartridge material-taking lifting assembly (13) includes: A second lifting support frame (131), A second roller frame mechanism (133), the second roller frame mechanism (133) can reciprocally lift along the height direction of the second lifting support frame (131) to align with the upper layer of the first double-layer roller assembly (11) or the lower layer of the first double-layer roller assembly (11); A strengthening cartridge transfer device (2), the strengthening cartridge transfer device (2) includes a second double-layer roller assembly (21). The lower layer of the second double-layer roller assembly (21) is used to receive the incoming empty strengthening cartridges, and the upper layer of the second double-layer roller assembly (21) is used to receive the outgoing full-load strengthening cartridges; A material-taking vision photographing device (3), the material-taking vision photographing device (3) is used to photograph and position the full-load cleaning cartridges; A receiving material vision photographing device (4), the receiving material vision photographing device (4) is used to photograph and position the empty strengthening cartridges; A pick-and-place manipulator device (5), the pick-and-place manipulator device (5) includes a manipulator body (51) and a material-taking suction cup assembly (52). The material-taking suction cup assembly (52) can suck the glass (300) on the full-load cleaning cartridge, and the manipulator body (51) is used to drive the material-taking suction cup assembly (52) to place the glass (300) on the empty strengthening cartridge.

2. The equipment for replacing glass cartridges according to claim 1, Characterized in that, The first roller frame (122) includes a plurality of first rollers (1221) arranged side by side, and the first rollers (1221) are used to convey the full-load cleaning cartridges or the empty cleaning cartridges. The cleaning cassette in-and-out lifting assembly (12) further includes a first centering and clamping mechanism (123), and the first centering and clamping mechanism (123) includes two relatively arranged first clamping plates (1231). The two first clamping plates (1231) can move closer to or away from each other simultaneously to adjust the position of the full-load cleaning cassette or the empty-load cleaning cassette relative to the first drum (1221).

3. The glass cassette replacement device according to claim 2, wherein, the first centering and clamping mechanism (123) further includes: a plurality of support plates (1232) which are arranged at intervals. The support plates (1232) can lift the full-load cleaning cassette to disengage from the first drum (1221); a transmission gear (1233); a driving rack (1234), one end of the driving rack (1234) is meshed with one side of the transmission gear (1233), and the other end fixes the first clamping plate (1231); a driving cylinder (1235), the output end of the driving cylinder (1235) is fixedly connected to the driving rack (1234) and is used to drive the driving rack (1234) to reciprocate; a transmission rack (1236), one end of the transmission rack (1236) is meshed with the side of the transmission gear (1233) away from the driving rack (1234), and the other end fixes the first clamping plate (1231). The transmission gear (1233) rotates to make the driving rack (1234) and the transmission rack (1236) move towards or away from each other, and the driving rack (1234) and the transmission rack (1236) respectively drive the two first clamping plates (1231) to move closer to or away from each other simultaneously.

4. The glass cassette replacement device according to claim 2, wherein, the upper layer of the first double-layer drum assembly (11) includes a plurality of second drums (111) arranged in parallel, the lower layer of the first double-layer drum assembly (11) includes a plurality of third drums (112) arranged in parallel, the rotation directions of the second drums (111) and the third drums (112) are opposite, and the first double-layer drum assembly (11) further includes: a first blocking mechanism (113), the first blocking mechanism (113) includes a liftable first blocking plate (1131), and the first blocking plate (1131) is used to block the full-load cleaning cassette or the empty-load cleaning cassette; a first sensor (114), the first sensor (114) is used to sense the full-load cleaning cassette on the second drum (111) or sense the empty-load cleaning cassette on the third drum (112), and the first sensor (114) is communicatively connected to the first blocking mechanism (113).

5. The glass cassette replacement device according to any one of claims 1-4, wherein, A first barcode scanner (132) is provided on the second lifting support frame (131), and the first barcode scanner (132) is used to read the two-dimensional code on the full-load cleaning plug; The second roller rack mechanism (133) includes a plurality of fourth rollers (1331) arranged side by side, and the fourth rollers (1331) are used to convey the full-load cleaning plug or the empty-load cleaning plug; The cleaning plug picking and lifting assembly (13) further includes a second centering and clamping mechanism (134), and the second centering and clamping mechanism (134) includes two relatively arranged second clamping plates (1341), and the two second clamping plates (1341) can approach or move away from each other simultaneously to adjust the position of the full-load cleaning plug relative to the fourth roller (1331).

6. The glass plug replacement device according to any one of claims 1-4, characterized in that The picking vision photographing device (3) includes: A first gantry (31), and the first gantry (31) is arranged above the cleaning plug running device (1); A first detection camera (32), and the first detection camera (32) is arranged at one end of the full-load cleaning plug; A first detection light source (33), and the first detection light source (33) faces one end face of the full-load cleaning plug; A first 3-axis module (34), and the first 3-axis module (34) is arranged on the first gantry (31), and the first 3-axis module (34) is used to drive the first detection camera (32) and the first detection light source (33) to move.

7. The glass plug replacement device according to any one of claims 1-4, characterized in that The receiving vision photographing device (4) includes: A second gantry (41), and the second gantry (41) is arranged above the strengthening plug transfer device (2); A second detection camera (42) and a third detection camera (43), and the second detection camera (42) and the third detection camera (43) are respectively arranged at both ends of the empty-load strengthening plug; A second detection light source (44) and a third detection light source (45), and the second detection light source (44) and the third detection light source (45) respectively face the end faces at both ends of the glass (300); A second 3-axis module (46) and a third 3-axis module (47), and the second 3-axis module (46) and the third 3-axis module (47) are both arranged on the second gantry (41), the second 3-axis module (46) is used to drive the second detection camera (42) and the second detection light source (44) to move, and the third 3-axis module (47) is used to drive the third detection camera (43) and the third detection light source (45) to move.

8. The glass plug replacement device according to any one of claims 1-4, characterized in that The glass plug replacement device further includes a secondary positioning device (6), and the secondary positioning device (6) includes: Secondary positioning camera (61), the secondary positioning camera (61) is used to photograph and position the glass (300) sucked by the material taking suction cup assembly (52); Fourth detection light source (62) and fifth detection light source (63), the fourth detection light source (62) and the fifth detection light source (63) are arranged perpendicular to each other, and the fourth detection light source (62) and the fifth detection light source (63) are respectively aligned with two sides of the glass (300).

9. The device for replacing the glass plug according to any one of claims 1-4, characterized in that the material taking suction cup assembly (52) includes: suction cup holder (521); two first suction cup arms (522), a plurality of suction cups (5221) are arranged on the first suction cup arms (522), the two first suction cup arms (522) are arranged at intervals, and the first suction cup arms (522) are slidably arranged on the suction cup holder (521) to adjust the distance; second suction cup arm (523), a plurality of the suction cups (5221) are arranged on the second suction cup arm (523), the second suction cup arm (523) is detachably connected to the suction cup holder (521), and is arranged between the two first suction cup arms (522).

10. The device for replacing the glass plug according to claim 9, characterized in that the material taking suction cup assembly (52) further includes: two synchronous belt pulleys (524), the two synchronous belt pulleys (524) are respectively arranged at both ends of the suction cup holder (521), and the two synchronous belt pulleys (524) rotate in the same direction; annular synchronous belt (525), the annular synchronous belt (525) is sleeved on the synchronous belt pulleys (524) to form two half rings, and the two first suction cup arms (522) are respectively fixedly connected to the two half rings to approach or move away from each other.

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