Flat glass vertical stacker capable of taking sheets up and down and operation control method thereof

Abstract

The present invention relates to a vertical stacker for flat glass capable of taking sheets up and down and an operation control method thereof, comprising a glass conveying mechanism, a suction cup mechanism, an upper sheet taking driving device and a lower sheet taking driving device, the upper sheet taking driving device comprising an upper grabbing swing arm and an upper grabbing connecting rod for driving and controlling the movement of the suction cup frame, the lower sheet taking driving device comprising a lower grabbing swing arm and a lower grabbing connecting rod for driving and controlling the movement of the suction cup frame, the upper grabbing swing arm and the lower grabbing swing arm are both hinged to the suction cup frame, and also comprises a switching device, the switching device comprising an upper grabbing clutch and a lower grabbing clutch, the upper grabbing clutch comprising a first clutch part and a second clutch part which can be attracted or separated, the first clutch part is fixedly connected to the upper grabbing connecting rod, the second clutch part is fixedly connected to the suction cup frame, the lower grabbing clutch comprises a third clutch part and a fourth clutch part which can be attracted or separated, the third clutch part is fixedly connected to the lower grabbing connecting rod, and the fourth clutch part is fixedly connected to the suction cup frame.

Description

Technical Field

[0001] The present invention relates to the technical field of cold end glass stacking, and in particular to a vertical flat glass stacker capable of taking sheets up and down and an operation control method thereof. Background Art

[0002] Grasping and stacking glass sheets is a critical process in glass production. The main glass stacking equipment used in flat glass production lines includes horizontal stackers, vertical stackers, and manipulators. Vertical stackers offer advantages such as adaptability to varying glass specifications, fast stacking cycles, the ability to load and unload sheets from both the top and bottom, and high stacking precision. These advantages are particularly pronounced in thin glass production lines.

[0003] Chinese utility model patent application number 201520592501.3 discloses a vertical stacker for flat glass, in which a suction cup frame is installed with a suction cup for sucking the glass. A sheet-taking drive device composed of a flip arm, a connecting rod, a rocker arm, a frame and other supporting structures is used to drive the suction cup frame to move, thereby transporting and stacking the glass plates. The suction cup frame is driven by the flip arm, and the connecting rod constrains the suction cup frame to move along a predetermined trajectory. When the flip arm rotates, it drives the connecting rod and the suction cup frame to move together, thereby moving the glass plate from a horizontal stacking state on the conveyor belt to an approximately vertical stacking state.

[0004] Traditional vertical stackers generally use either upper or lower plate picking methods. The upper pick-up method has a faster stacking cycle, and the fastest stacking cycle for small and medium-sized glass plates can reach 6 seconds. However, the upper pick-up method may cause contamination or even scratches on the upper surface of the glass (non-tin surface), affecting the quality of the glass products; the lower pick-up method grabs from the lower surface of the glass plate, which has no effect on the upper surface of the glass, but the stacking cycle of the lower pick-up method is longer than that of the upper pick-up method. In the actual production process, it is often necessary to combine the two pick-up methods. Generally, two sets of pick-up drive devices are required, one for driving the suction cup frame to realize upper pick-up, and the other for driving the suction cup frame to realize lower pick-up. When using two pick-up methods at the same time, how to realize online rapid switching between the two methods is an urgent problem to be solved. Summary of the Invention

[0005] In view of the shortcomings of the prior art described above, the technical problem to be solved by the present invention is to provide a flat glass vertical stacker capable of taking sheets up and down and its operation control method, which can quickly and flexibly switch between the upper and lower sheet taking modes to improve work efficiency.

[0006] The upper and lower frames are connected with each other to form a pair of movable frames, and the lower and lower frames are connected with each other to form a pair of movable frames.

[0007] Furthermore, the conveying direction of the glass conveying mechanism is along the front-to-back direction, the second clutch part of the upper grabbing clutch and the fourth clutch part of the lower grabbing clutch are symmetrically connected to the left and right sides of the suction cup frame, and the upper grabbing clutch and the lower grabbing clutch are symmetrically connected to the left and right sides of the suction cup frame.

[0008] Furthermore, an upper grab hinge shaft and an upper grab bearing seat are provided between the upper grab swing arm and the suction cup frame, and the upper grab bearing seat is fixedly installed on the upper grab swing arm, one end of the upper grab hinge shaft is installed in the upper grab bearing seat, and the other end is fixedly connected to the suction cup frame; a lower grab hinge shaft and a lower grab bearing seat are provided between the lower grab swing arm and the suction cup frame, and the lower grab bearing seat is fixedly installed on the lower grab swing arm, one end of the lower grab hinge shaft is installed in the lower grab bearing seat, and the other end is fixedly connected to the suction cup frame.

[0009] Furthermore, the upper grab clutch is located between the upper grab swing arm and the suction cup frame, and the upper grab clutch can be freely rotatably installed on the upper grab hinge shaft, and the lower grab clutch is located between the lower grab swing arm and the suction cup frame, and the lower grab clutch can be freely rotatably installed on the lower grab hinge shaft.

[0010] Furthermore, the glass conveying mechanism includes a front conveying section and a rear conveying section, and there is a gap between the front conveying section and the rear conveying section. The front conveying section and the rear conveying section both include multiple conveyor belts parallel to each other, and there is a gap between adjacent conveyor belts; the suction cup frame of the suction cup mechanism includes a support longitudinal beam extending in the left and right directions, and a support cross beam fixed on the support longitudinal beam and extending in the front and back directions. When the suction cup mechanism passes through the glass conveying mechanism, the support longitudinal beam passes through the gap between the front conveying section and the rear conveying section, and the support cross beam passes through the gap between adjacent conveyor belts.

[0011] Furthermore, it also includes a conveyor belt moving mechanism, which is used to drive the rear conveying section to move and can change the size of the gap between the front conveying section and the rear conveying section.

[0012] Furthermore, the conveyor belt moving mechanism includes a fixed frame, a mobile frame, and a mobile drive assembly. The mobile frame is installed on the fixed frame, the mobile drive assembly is installed on the fixed frame and connected to the mobile frame, the mobile drive assembly can drive the mobile frame to move in the front and rear directions, and the rear conveying section is installed on the mobile frame.

[0013] Furthermore, a guide structure is provided on the fixed frame, and the movable frame is installed on the guide structure and moves forward and backward along the guide structure.

[0014] Furthermore, the conveyor belt moving mechanism also includes a positioning assembly, which includes a first proximity switch, a second proximity switch and a positioning sensing block. The first proximity switch and the second proximity switch are installed on a fixed frame, and the first proximity switch is located in front of the second proximity switch. The positioning sensing block is installed on a movable frame. When the movable frame moves forward, the positioning sensing block can be aligned with the first proximity switch, and when the movable frame moves backward, the positioning sensing block can be aligned with the second proximity switch.

[0015] The present invention also provides an operation control method for the above-mentioned flat glass vertical stacker, comprising the following contents:

[0016] A. Upper glass removal mode: The first and second clutch parts of the upper clutch are engaged, and the third and fourth clutch parts of the lower clutch are disengaged. The upper swing arm actively moves, and under the action of the upper connecting rod, the suction cup frame moves to remove the glass piece. The lower connecting rod does not affect the movement of the suction cup frame.

[0017] B. Lower glass removal mode: The first and second clutch parts of the upper grab clutch are disengaged, and the third and fourth clutch parts of the lower grab clutch are engaged. The lower grab swing arm actively moves and, under the action of the lower grab connecting rod, drives the suction cup frame to move to remove the glass piece. The upper grab connecting rod does not affect the movement of the suction cup frame.

[0018] As described above, the flat glass vertical stacker and the operation control method thereof according to the present invention have the following beneficial effects:

[0019] 1. Combining the two film-taking methods eliminates the need for two vertical stacking devices, reduces the number of vertical stacker auxiliary equipment and rollers, greatly reduces costs, and meets the requirements of different film-taking methods in actual production.

[0020] 2. The switch between the two film-taking modes is flexible and convenient. The control logic of the switching method is simple and can achieve full automatic switching without manual operation, which improves the automation level of the production line and the economic benefits of the enterprise.

[0021] 3. By setting up the conveyor belt moving mechanism, on the one hand, it ensures the smooth transportation of the glass plate when taking the glass from the upper part, reducing the scratches on the glass plate. On the other hand, it also ensures that the suction cup mechanism can sink smoothly below the glass conveying mechanism when taking the glass from the lower part, thereby completing the lower glass taking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a partial structural schematic diagram of the flat glass vertical stacker of the present invention.

[0023] Figure 2 It is a schematic diagram of the installation of the upper clutch and the lower clutch in the present invention.

[0024] Figure 3 The figure is a schematic diagram of the operation of the flat glass vertical stacker of the present invention in the upper sheet-taking state.

[0025] Figure 4 This is a schematic diagram of the operation of the flat glass vertical stacker of the present invention in the bottom plate taking state.

[0026] Figure 5 It is a structural schematic diagram of the conveyor belt moving mechanism in the present invention.

[0027] Figure 6 The figure is a flow chart of the flat glass vertical stacker of the present invention switching between two sheet taking modes.

[0028] Explanation of Figure Numbers

[0029] 1 Glass conveying mechanism

[0030] 101 front conveyor section

[0031] 102 rear conveying section

[0032] 2 Suction cup mechanism

[0033] 201 Suction Cup Stand

[0034] 202 Suction Cup

[0035] 203 bracket longitudinal beam

[0036] 204 support beam

[0037] 3 Glass Panes

[0038] 4. Upper grab swing arm

[0039] 5 Upper grab link

[0040] 6. Lower grab swing arm

[0041] 7 Lower grab link

[0042] 8. Engage the clutch

[0043] 9 Upper grab hinge shaft

[0044] 10 Upper bearing seat

[0045] 11 Upper grip proximity switch

[0046] 12 Upper grab sensor block

[0047] 13. Engage the clutch

[0048] 14 Lower grab hinge shaft

[0049] 15 Lower bearing seat

[0050] 16 Lower grip proximity switch

[0051] 17 Lower grab sensor block

[0052] 18 Conveyor belt moving mechanism

[0053] 181 Fixed bracket

[0054] 182 Mobile Rack

[0055] 183 guide structure

[0056] 184 cylinders

[0057] 185 spherical plain bearings

[0058] 186 First proximity switch

[0059] 187 Second proximity switch

[0060] 188 Positioning sensor block DETAILED DESCRIPTION

[0061] The following describes the implementation of the present invention through specific embodiments. People skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0062] It should be noted that the structures, proportions, sizes, etc. depicted in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the conditions for the implementation of the present invention. Therefore, they have no substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the efficacy and purpose of the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle", etc. quoted in this specification are only for the convenience of description and are not used to limit the scope of the implementation of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0063] See also Figures 1 to 5 The present invention provides a vertical stacker for flat glass capable of taking up and down sheets, comprising a glass conveying mechanism 1, a suction cup mechanism 2, an upper sheet taking drive device and a lower sheet taking drive device. The glass conveying mechanism 1 is used to convey a glass plate 3 to a designated position and stop it on the glass conveying mechanism 1, waiting to be grabbed. The suction cup mechanism 2 comprises a suction cup frame 201, and a suction cup 202 mounted on the suction cup frame 201. The suction cup 202 is used to suck the glass plate 3 for transportation. The upper sheet taking drive device comprises an upper grabbing swing arm 4 and an upper grabbing connecting rod 5 for driving and controlling the movement of the suction cup frame 201, and also comprises other supporting structures, wherein the upper grabbing swing arm 4 is hinged to the suction cup frame 201. The upper sheet taking drive device is used to drive the suction cup mechanism 2 to perform the upper sheet taking action. The upper grabbing swing arm 4 drives the suction cup mechanism 2. When the upper grabbing connecting rod 5 is connected to the suction cup mechanism 2, it constrains the suction cup mechanism 2 to move according to the set trajectory, thereby The upper glass plates 3 of the glass conveying mechanism 1 are grabbed from above and stacked. Similarly, the lower sheet-taking drive device includes a lower grabbing swing arm 6 and a lower grabbing connecting rod 7 for driving and controlling the movement of the suction cup frame 201, as well as other supporting structures. The lower grabbing swing arm 6 is hinged to the suction cup frame 201. The lower sheet-taking drive device is used to drive the suction cup mechanism 2 to perform the upper sheet-taking action. The lower grabbing swing arm 6 drives the suction cup mechanism 2. When the upper grabbing connecting rod 5 remains connected to the suction cup mechanism 2, it constrains the suction cup mechanism 2 to move along a set trajectory, grabbing the glass plates 3 of the glass conveying mechanism 1 from above and stacking them. Among them, both the upper sheet-taking drive device and the lower sheet-taking drive device can adopt existing devices.

[0064] The flat glass vertical stacker of the present invention also includes a switching device, which includes an upper grab clutch 8 and a lower grab clutch 13. The upper grab clutch 8 includes a first clutch part and a second clutch part that can be attracted or separated. The first clutch part is fixedly connected to the upper grab link 5, and the second clutch part is fixedly connected to the suction cup frame 201. The lower grab clutch 13 includes a third clutch part and a fourth clutch part that can be attracted or separated. The third clutch part is fixedly connected to the lower grab link 7, and the fourth clutch part is fixedly connected to the suction cup frame 201.

[0065] The flat glass vertical stacker of the present invention is realized by driving the upper and lower sheet-taking driving devices respectively. In the upper sheet-taking mode, the first and second clutch parts of the upper grabbing clutch 8 are engaged. At this time, the upper grabbing link 5 and the suction cup mechanism 2 are kept connected through the upper grabbing clutch 8, and the third and fourth clutch parts of the lower grabbing clutch 13 are disengaged, that is, the connection between the suction cup mechanism 2 and the lower grabbing link 7 is disconnected. The movement of the suction cup mechanism 2 is not affected by the lower grabbing link 7. When taking the sheet, it is actively driven by the upper grabbing swing arm 4, and under the action of the upper grabbing link 5, the suction cup frame 201 is driven to move in a specific trajectory to take the sheet from above the glass plate 3. Figure 3, the lower grab link 7 does not affect the movement of the suction cup frame 201. In the lower film removal mode, the opposite happens. The first clutch part and the second clutch part of the upper grab clutch 8 are disengaged, that is, the connection between the suction cup mechanism 2 and the upper grab link 5 is disconnected. The movement of the suction cup mechanism 2 is not affected by the upper grab link 5. The third clutch part and the fourth clutch part of the lower grab clutch 13 are engaged. The lower grab link 7 and the suction cup mechanism 2 are kept connected through the upper grab clutch 8. When removing the glass sheet, the lower grab swing arm 6 actively moves and, under the action of the lower grab link 7, drives the suction cup frame 201 to move to remove the glass sheet 3, and remove the glass sheet from the bottom of the glass plate 3. Figure 4 , the upper grab link 5 does not affect the movement of the suction cup frame 201. The present invention can quickly and flexibly switch between the upper and lower film taking modes by setting a switching device, thereby improving work efficiency.

[0066] In the present invention, the motion trajectories of the suction cup mechanism 2 are different in the upper and lower film-taking modes, and the two trajectories overlap only when the suction cup mechanism 2 is finished taking the glass sheets 3 and stacking them at the opposite rack. Therefore, the switching process between the two modes is completed when the suction cup mechanism 2 is located at the stacking glass. During the switching process, the upper grabbing clutch 8 and the lower grabbing clutch 13 are both in the engaged state. The switching process is described in detail in the following. Figure 6 shown.

[0067] In the present invention, the upper grabbing arm 4 and the lower grabbing arm 6 can be completely independent, that is, the upper film picking drive device and the lower film picking drive device are two independent devices, which independently drive and control the suction cup mechanism 2 to perform the film picking action. In this way, when the upper grabbing arm 4 is actively driven, the lower grabbing arm 6 does not actively swing, but moves with the suction cup mechanism 2, and vice versa. The upper grabbing arm 4 and the lower grabbing arm 6 can also be synchronously driven. Both are driven to swing by a driving source, and the swinging trajectory is the same. Regardless of whether it is the upper film picking mode or the lower film picking mode, the upper grabbing arm 4 and the lower grabbing arm 6 actively rotate to provide power. It is only through the upper grabbing link 5 and the lower grabbing link 7 that the movement of the suction cup mechanism 2 is constrained, so that the suction cup mechanism 2 is installed with different trajectory movements to realize the upper film picking and lower film picking actions.

[0068] In this embodiment, see Figure 1 、 Figure 2 and Figure 3 As a preferred design, the conveying direction of the glass conveying mechanism 1 is the front-to-back direction, the glass plate 3 is conveyed from the front side and docked at the designated position, the second clutch part of the upper grabbing clutch 8 and the fourth clutch part of the lower grabbing clutch 13 are symmetrically connected to the left and right sides of the suction cup frame 201, and the upper grabbing clutch 8 and the lower grabbing clutch 13 are symmetrically connected to the left and right sides of the suction cup frame 201. The layout is reasonable and will not affect the glass plate 3.

[0069] In this embodiment, see Figure 2As a preferred design, an upper grab hinge shaft 9 and an upper grab bearing seat 10 are provided between the upper grab swing arm 4 and the suction cup frame 201, and the upper grab hinge shaft 9 and the upper grab bearing seat 10 are used to achieve an articulation between the two. The upper grab bearing seat 10 is fixedly mounted on the upper grab swing arm 4, one end of the upper grab hinge shaft 9 is installed in the upper grab bearing seat 10, and the other end is fixedly connected to the suction cup frame 201. The upper grab hinge shaft 9 can rotate freely in the upper grab bearing seat 10. A lower grab hinge shaft 14 and a lower grab bearing seat 15 are provided between the lower grab swing arm 6 and the suction cup frame 201, and the lower grab bearing seat 15 is used to achieve an articulation between the two. The lower grab bearing seat 15 is fixedly mounted on the lower grab swing arm 6, one end of the lower grab hinge shaft 14 is installed in the lower grab bearing seat 15, and the other end is fixedly connected to the suction cup frame 201. The lower grab hinge shaft 14 can rotate freely in the lower grab bearing seat 15. Preferably, the upper grab clutch 8 is located between the upper grab swing arm 4 and the suction cup frame 201, and is mounted on the upper grab hinge shaft 9 through a bearing sleeve, that is, the upper grab clutch 8 can rotate freely on the upper grab hinge shaft 9, and the second clutch part can move axially along the upper grab hinge shaft 9 to engage or separate with the first clutch part. The lower grab clutch 13 is located between the lower grab swing arm 6 and the suction cup frame 201, and is mounted on the lower grab hinge shaft 14 through a bearing sleeve, and the lower grab clutch 13 can rotate freely on the lower grab hinge shaft 14, and the fourth clutch part can move axially along the lower grab hinge shaft 14 to engage or separate with the third clutch part. With the above method, the upper grab clutch 8 and the lower grab clutch 13 are easy and stable to install and operate stably.

[0070] In this embodiment, see Figure 2 As a preferred design, the switching device also includes an upper grab proximity switch 11 and an upper grab sensing block 12 for detecting the engagement state of the upper grab clutch 8. The upper grab proximity switch 11 is mounted on the suction cup frame 201, and the upper grab sensing block 12 is mounted on the second clutch portion. When the second clutch portion moves to engage with the first clutch portion, the upper grab proximity switch 11 and the upper grab sensing block 12 are aligned with each other, and the upper grab proximity switch 11 sends a signal. Similarly, a lower grab proximity switch 16 and a lower grab sensing block 17 are also provided for detecting the engagement state of the lower grab clutch 13. The lower grab proximity switch 16 is mounted on the suction cup frame 201, and the lower grab sensing block 17 is mounted on the fourth clutch portion. When the fourth clutch portion moves to engage with the third clutch portion, the lower grab proximity switch 16 and the lower grab sensing block 17 are aligned with each other, and the lower grab proximity switch 16 sends a signal. In this embodiment, both the upper clutch 8 and the lower clutch 13 are pneumatic clutches, which can be automatically engaged or disengaged, and the switching action can be automatically completed by the electronic control system of the flat glass vertical stacker.

[0071] In this embodiment, see Figure 1The glass conveying mechanism 1 includes a front conveying section 101 and a rear conveying section 102, and there is a gap between the front conveying section 101 and the rear conveying section 102. When conveying glass, the glass conveying mechanism 1 enters from the front side of the front conveying section 101 and stops at the front conveying section 101 and the rear conveying section 102 at the same time to wait for being grabbed. Figure 3 . Both the front conveying section 101 and the rear conveying section 102 include multiple parallel conveyor belts, which are supported and driven by rollers, and there are gaps between adjacent conveyor belts to provide space for the suction cup mechanism 2 to sink. The suction cup frame 201 of the suction cup mechanism 2 includes a support longitudinal beam 203 along the left and right directions, and a support cross beam 204 fixed on the support longitudinal beam 203 and arranged along the front and back directions. The suction cup 202 is fixed on the support cross beam 204, the upper grab clutch 8 and the upper grab swing arm 4 are connected to the left end side of the support longitudinal beam 203, and the lower grab clutch 13 and the lower grab swing arm 6 are connected to the right end side of the support longitudinal beam 203, both of which are located outside the left and right sides of the glass conveying mechanism 1. In the lower sheet picking mode, the suction cup mechanism 2 needs to move to the bottom of the glass conveying mechanism 1, see Figure 4 The glass conveying mechanism 1 needs to provide space in the middle to facilitate the passage of the suction cup mechanism 2 when it moves up and down. The support crossbeam 204 can pass through the gap between adjacent conveyor belts, and the support longitudinal beam 203 can pass through the gap between the front conveying section 101 and the rear conveying section 102.

[0072] As a preferred design, in this embodiment, see Figure 3 and Figure 4 The suction cup frame 201 also includes a conveyor belt moving mechanism 18, which is used to drive the rear conveying section 102 to move forward and backward, thereby changing the gap between the front conveying section 101 and the rear conveying section 102. Specifically, in the upper sheet removal mode, the rear conveying section 102 is close to the front conveying section 101, and the gap between them is small, which facilitates the conveying and docking of the glass sheet 3. In the lower sheet removal mode, the conveyor belt moving mechanism 18 drives the rear conveying section 102 to move backward, increasing the gap between the conveying section and the rear conveying section 102, facilitating the suction cup mechanism 2 to pass smoothly between the conveying section and the rear conveying section 102, thereby smoothly removing the glass sheet from the lower sheet.

[0073] In this embodiment, see Figure 2 and Figure 5As a preferred design, the conveyor belt moving mechanism 18 includes a fixed frame 181, a mobile frame 182, and a mobile drive assembly. The mobile frame 182 is installed on the fixed frame 181, and the mobile drive assembly is installed on the fixed frame 181 and connected to the mobile frame 182. The mobile drive assembly can drive the mobile frame 182 to move in the front and rear directions. The rear conveying section 102 is installed on the mobile frame 182, wherein the mobile drive assembly adopts a cylinder 184, and the cylinder 184 is horizontally arranged along the front and rear directions. One end of the cylinder 184 is hinged to the mobile frame 182, and the end of its plug rod is hinged to the fixed frame 181 through a joint bearing 185. The telescopic movement of the cylinder 184 drives the mobile frame 182 to move forward and backward, thereby driving the front and rear movement of the rear conveying section 102.

[0074] Further, see Figure 2 and Figure 5 The fixed frame 181 is also provided with a guide structure 183, such as a guide rail or guide groove. The movable frame 182 is mounted on the guide structure 183 and moves forward and backward along the guide structure 183 to ensure smooth movement. Furthermore, a positioning assembly is included. The positioning assembly includes a first proximity switch 186, a second proximity switch 187, and a positioning sensor block 188. The first proximity switch 186 and the second proximity switch 187 are mounted on the fixed frame 181, with the first proximity switch 186 located in front of the second proximity switch 187. The positioning sensor block 188 is mounted on the movable frame 182. When the movable frame 182 moves forward, the positioning sensor block 188 can align with the first proximity switch 186, and when it moves backward, the positioning sensor block 188 can align with the second proximity switch 187. The front and rear positions of the rear conveying section 102 are positioned by the first proximity switch 186, the second proximity switch 187 and the positioning sensing block 188. Specifically, when switching to the upper film-taking mode, the conveyor belt moving mechanism 18 drives the rear conveying section 102 to move forward close to the front conveying section 101. When it reaches the specified position, the positioning sensing block 188 is opposite to the first proximity switch 186, and the first proximity switch 186 sends a signal. According to the signal, the conveyor belt moving mechanism 18 stops, thereby ensuring that the rear conveying section 102 is docked at the specified position. When switching to the lower film-taking mode, the conveyor belt moving mechanism 18 drives the rear conveying section 102 to move backward to a distance from the front conveying section 101. When it reaches the specified position, the positioning sensing block 188 is opposite to the second proximity switch 187, and the second proximity switch 187 sends a signal. According to the signal, the conveyor belt moving mechanism 18 stops, thereby ensuring that the rear conveying section 102 is docked at the specified position.

[0075] The present invention also provides an operation control method for a flat glass vertical stacker, comprising the following contents:

[0076] A. Upper sheet picking mode: The first and second clutch parts of the upper grab clutch 8 are engaged, and the third and fourth clutch parts of the lower grab clutch 13 are disengaged. The upper grab swing arm 4 actively moves and, under the action of the upper grab connecting rod 5, drives the suction cup frame 201 to move to pick up the glass sheet 3. The lower grab connecting rod 7 does not affect the movement of the suction cup frame 201.

[0077] B. Lower sheet removal mode: The first and second clutch parts of the upper grab clutch 8 are disengaged, and the third and fourth clutch parts of the lower grab clutch 13 are engaged. The lower grab swing arm 6 actively moves and, under the action of the lower grab connecting rod 7, drives the suction cup frame 201 to move to remove the glass sheet 3. The upper grab connecting rod 5 does not affect the movement of the suction cup frame 201.

[0078] The flat glass vertical stacker and the operation control method thereof of the present invention have the following technical effects:

[0079] 1. Combining the two film-taking methods eliminates the need for two vertical stacking devices, reduces the number of vertical stacker auxiliary equipment and rollers, greatly reduces costs, and meets the requirements of different film-taking methods in actual production.

[0080] 2. The switch between the two film-taking modes is flexible and convenient. The control logic of the switching method is simple and can achieve full automatic switching without manual operation, which improves the automation level of the production line and the economic benefits of the enterprise.

[0081] 3. By setting up the conveyor belt moving mechanism 18, on the one hand, it ensures the smooth transportation of the glass plate 3 when taking the glass from the upper part, reducing the scratches on the glass plate 3. On the other hand, it also ensures that the suction cup mechanism 2 can sink smoothly below the glass conveying mechanism 1 when taking the glass from the lower part, thereby completing the lower taking process.

[0082] In summary, the present invention effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

[0083] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. A vertical stacker for flat glass capable of taking up and down sheets, comprising a glass conveying mechanism (1), a suction cup mechanism (2), an upper sheet taking drive device and a lower sheet taking drive device, wherein the suction cup mechanism (2) comprises a suction cup frame (201) and a suction cup (202) mounted on the suction cup frame (201), the upper sheet taking drive device comprises an upper grabbing swing arm (4) and an upper grabbing connecting rod (5) for driving and controlling the movement of the suction cup frame (201), the lower sheet taking drive device comprises a lower grabbing swing arm (6) and a lower grabbing connecting rod (7) for driving and controlling the movement of the suction cup frame (201), the upper grabbing swing arm (4) and the lower grabbing swing arm (6) are both hinged to the suction cup frame (201), and is characterized in that: The invention also includes a switching device, wherein the switching device includes an upper grab clutch (8) and a lower grab clutch (13), wherein the upper grab clutch (8) includes a first clutch part and a second clutch part capable of being engaged or separated, wherein the first clutch part is fixedly connected to the upper grab link (5), and the second clutch part is fixedly connected to the suction cup frame (201), and the lower grab clutch (13) includes a third clutch part and a fourth clutch part capable of being engaged or separated, wherein the third clutch part is fixedly connected to the lower grab link (7), and the fourth clutch part is fixedly connected to the suction cup frame (201); the upper grab swing arm (4) is fixedly connected to the suction cup frame (2 01), an upper grab hinge shaft (9) and an upper grab bearing seat (10) are provided between the upper grab bearing seat (10), the upper grab bearing seat (10) is fixedly mounted on the upper grab swing arm (4), one end of the upper grab hinge shaft (9) is mounted in the upper grab bearing seat (10), and the other end is fixedly connected to the suction cup frame (201); a lower grab hinge shaft (14) and a lower grab bearing seat (15) are provided between the lower grab swing arm (6) and the suction cup frame (201), the lower grab bearing seat (15) is fixedly mounted on the lower grab swing arm (6), one end of the lower grab hinge shaft (14) is mounted in the lower grab bearing seat (15), and the other end is fixedly connected to the suction cup frame (201).

2. The flat glass vertical stacker according to claim 1, characterized in that: The conveying direction of the glass conveying mechanism (1) is along the front-back direction; the second clutch portion of the upper grabbing clutch (8) and the fourth clutch portion of the lower grabbing clutch (13) are symmetrically connected to the left and right sides of the suction cup frame (201); and the upper grabbing clutch (8) and the lower grabbing clutch (13) are symmetrically connected to the left and right sides of the suction cup frame (201).

3. The flat glass vertical stacker according to claim 1, characterized in that: The upper grab clutch (8) is located between the upper grab swing arm (4) and the suction cup frame (201), and the upper grab clutch (8) is rotatably mounted on the upper grab hinge shaft (9). The lower grab clutch (13) is located between the lower grab swing arm (6) and the suction cup frame (201), and the lower grab clutch (13) is rotatably mounted on the lower grab hinge shaft (14).

4. The flat glass vertical stacker according to claim 1, characterized in that: The glass conveying mechanism (1) comprises a front conveying section (101) and a rear conveying section (102), and a gap is provided between the front conveying section (101) and the rear conveying section (102). The front conveying section (101) and the rear conveying section (102) both comprise a plurality of conveyor belts parallel to each other, and a gap is provided between adjacent conveyor belts. The suction cup frame (201) of the suction cup mechanism (2) comprises a support longitudinal beam (203) extending in the left-right direction, and a support cross beam (204) fixed on the support longitudinal beam (203) and extending in the front-back direction. When the suction cup mechanism (2) passes through the glass conveying mechanism (1), the support longitudinal beam (203) passes through the gap between the front conveying section (101) and the rear conveying section (102), and the support cross beam (204) passes through the gap between adjacent conveyor belts.

5. The flat glass vertical stacker according to claim 4, characterized in that: It also includes a conveyor belt moving mechanism (18), which is used to drive the rear conveying section (102) to move and can change the size of the gap between the front conveying section (101) and the rear conveying section (102).

6. The flat glass vertical stacker according to claim 5, characterized in that: The conveyor belt moving mechanism (18) comprises a fixed frame (181), a movable frame (182), and a movable drive assembly. The movable frame (182) is mounted on the fixed frame (181). The movable drive assembly is mounted on the fixed frame (181) and connected to the movable frame (182). The movable drive assembly can drive the movable frame (182) to move in a front-to-rear direction. The rear conveying section (102) is mounted on the movable frame (182).

7. The flat glass vertical stacker according to claim 6, characterized in that: A guide structure (183) is also provided on the fixed frame (181), and the movable frame (182) is mounted on the guide structure (183) and moves forward and backward along the guide structure (183).

8. The flat glass vertical stacker according to claim 6, characterized in that: The conveyor belt moving mechanism (18) further includes a positioning assembly, the positioning assembly including a first proximity switch (186), a second proximity switch (187) and a positioning sensing block (188), wherein the first proximity switch (186) and the second proximity switch (187) are mounted on a fixed frame (181), and the first proximity switch (186) is located in front of the second proximity switch (187), and the positioning sensing block (188) is mounted on a movable frame (182), and when the movable frame (182) moves forward, the positioning sensing block (188) can be aligned with the first proximity switch (186), and when the movable frame (182) moves backward, the positioning sensing block (188) can be aligned with the second proximity switch (187).

9. The operation control method of a flat glass vertical stacker according to any one of claims 1 to 8, characterized in that: Includes the following: A. Upper sheet picking mode: the first clutch part and the second clutch part of the upper grab clutch (8) are engaged, the third clutch part and the fourth clutch part of the lower grab clutch (13) are disengaged, the upper grab swing arm (4) actively moves, and under the action of the upper grab connecting rod (5), the suction cup frame (201) is driven to move to pick up the glass sheet (3), and the lower grab connecting rod (7) does not affect the movement of the suction cup frame (201); B. Lower sheet removal mode: The first clutch portion and the second clutch portion of the upper grasping clutch (8) are disengaged, and the third clutch portion and the fourth clutch portion of the lower grasping clutch (13) are engaged, and the suction cup frame (201) is driven to move under the action of the lower grasping connecting rod (7) to perform the action of taking the glass sheet (3). The upper grasping connecting rod (5) does not affect the movement of the suction cup frame (201).

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