A glass packaging device and its positioning and detection device

Abstract

The present invention discloses a glass packaging device and its positioning and detection device. Among them, the positioning and detection device includes: two positioning mechanisms for symmetrically installing on the vertical plate or bottom plate of the glass A-frame, and a laser position detection mechanism for three-dimensional positioning and detection. The positioning mechanism includes: an installation component and a detection component; the installation component includes a substrate, a first positioning plate and a second positioning plate symmetrically and vertically fixed at both ends of the substrate; a threaded hole is provided on the first positioning plate, and a first fastening bolt is threadedly connected to the threaded hole, and a fixing space is formed between the front end of the first fastening bolt and the second positioning plate; the detection component includes a support plate vertically fixed on the side of the second positioning plate away from the first positioning plate, and a detection seat rotatably connected to the side of the support plate close to the substrate, and a detection part for three-dimensional positioning and detection is provided on the detection seat. The present invention is beneficial to ensuring the parallelism of the gripper of the suction cup robot and the plane of the A-frame to maintain good fit and reliable plate placement.

Description

Technical Field

[0001] The present invention relates to the technical field of glass packaging equipment, and particularly to a glass packaging equipment and its positioning and detection device. Background Art

[0002] With the improvement of glass production technology, the size of substrate glass has increased. It relies on suction cup robots to replace general equipment for transportation to improve efficiency. Especially for large-sized glass, there are high requirements in terms of packaging accuracy, reliable position, uniform stacking, no risk of scratching, and reduction or elimination of the influence of non-parallelism during the plate placing process. The suction cup robot gripper needs to maintain good parallelism with the vertical rack plane during the plate placing process, so as to ensure uniform stress between the placed glasses. At the same time, it is also necessary to ensure the minimum distance and left-right height difference between the glass and the lower bottom plate to avoid scratching caused by sliding.

[0003] However, due to differences in buffer materials and sizes among different A-frames, deviations in partial position sizes due to different turnover times of A-frames, differences in inclination angles of different A-frames, and differences in the placement positions of A-frames, the suction cup robot gripper cannot maintain good parallelism with the A-frame plane when placing the plate, resulting in glass sliding. When the suction cup robot gripper places the plate next time, the glass is easily scratched or the glass and the A-frame are easily scratched. Summary of the Invention

[0004] To solve the technical problems in the background art, the present invention proposes a glass packaging equipment and its positioning and detection device.

[0005] The positioning mechanism of the positioning and detection device of a glass packaging equipment proposed by the present invention includes: an installation component and a detection component; the installation component includes a substrate, a first positioning plate, a second positioning plate, and a first fastening bolt; the first positioning plate and the second positioning plate are respectively vertically fixed at both ends of the substrate, and the first positioning plate and the second positioning plate are arranged face to face; the free end of the second positioning plate is used to abut against the buffer pad on the vertical plate of the A-frame or the buffer pad on the bottom plate; one of the side ends adjacent to the free end of the second positioning plate is used to abut against the bottom plate or the vertical plate of the A-frame; a threaded hole matching the first fastening bolt is provided on the first positioning plate; the first fastening bolt is threadedly connected to the threaded hole, and a fixing space for fixing with the vertical plate or the bottom plate of the A-frame is formed between the front end of the first fastening bolt and the second positioning plate;

[0006] The detection component includes a support plate and a detection seat. The support plate is vertically fixed on the side of the second positioning plate away from the first positioning plate, and the support plate is parallel to the substrate; the detection seat is located on the side of the support plate close to the substrate, and the detection seat is rotatably connected to the support plate through a rotating shaft, and a detection part for three-dimensional positioning detection is provided on the detection seat.

[0007] Preferably, it further includes a connecting plate which is parallel to the first positioning plate. The connecting plate is vertically fixed at one end of the substrate away from the first positioning plate. The second positioning plate is arranged between the connecting plate and the first positioning plate and is fixedly connected to the connecting plate, and the connection position between the second positioning plate and the connecting plate can be adjusted along the position where the connecting plate approaches or moves away from the substrate.

[0008] Preferably, the connection position between the support plate and the second positioning plate can be adjusted along the direction of approaching or moving away from the substrate.

[0009] Preferably, a plurality of blind threaded holes are provided on the second positioning plate along the direction from the substrate to the free end of the second positioning plate. A through hole is provided at the position corresponding to the blind threaded hole on the support plate, and a second fastening bolt is inserted through the through hole and one of the blind threaded holes.

[0010] Preferably, a step portion is formed by sinking at the connection between the side of the second positioning plate away from the first positioning plate and the free end of the second positioning plate.

[0011] Preferably, the detection portion includes an X-axis detection portion, a Y-axis detection portion, and a Z-axis detection portion. Each detection portion is located in a different plane of the detection seat, and the planes are perpendicular to each other in pairs.

[0012] Preferably, the detection portion is made of a material that is neither light-absorbing nor fully reflective.

[0013] Preferably, a horizontal spirit level is provided on the detection seat.

[0014] The present invention also provides a positioning and detection device for a glass packaging device, including: a laser position detection mechanism and two positioning mechanisms as described in any one of the above. The two positioning mechanisms are used for symmetrically installing on the vertical plate or the bottom plate of the glass A-frame, and the laser position detection mechanism is used for three-dimensional positioning detection of the two positioning mechanisms respectively.

[0015] The present invention also provides a glass packaging device, including: a suction cup robot, a glass A-frame, and a positioning and detection device as described in any one of the above;

[0016] The two positioning mechanisms are symmetrically installed on the vertical plate or the bottom plate of the glass A-frame; the laser position detection mechanism includes two groups of laser position detection components. Each group of laser position detection components includes a laser emitter and a laser receiver. The two groups of laser position detection components are symmetrically arranged on the gripper of the suction cup robot; the laser position detection mechanism and the suction cup robot are respectively electrically connected to the controller;

[0017] The controller is used to control the gripper of the suction cup robot to drive the laser position detection mechanism to respectively perform three-dimensional positioning detection on the two positioning mechanisms before the suction cup robot starts to load and place the plate, and determine the attitude correction value that the suction cup robot needs to adjust before placing the plate according to the three-dimensional positioning information obtained from the detection;

[0018] When the suction cup robot starts to load and place the plate, the controller is further configured to control the suction cup robot to correct its posture according to the posture correction value before each plate placement.

[0019] In the present invention, the proposed glass packaging equipment and the glass A-frame with a positioning mechanism can quickly fix the positioning mechanism on the A-frame, and use the position of the detection seat as a reference to facilitate the positioning detection of the A-frame, which is beneficial to subsequent posture correction according to the detected positioning information, so as to ensure that the gripper of the suction cup robot is parallel to the plane of the A-frame with good fit, reliably place the plate, and avoid scratching. Description of the Drawings

[0020] Figure 1 It is a schematic structural diagram of a glass A-frame with a positioning mechanism in an embodiment proposed by the present invention.

[0021] Figure 2 It is a schematic connection diagram of the positioning mechanism and the A-frame.

[0022] Figure 3 It is a schematic structural diagram of the positioning mechanism in an embodiment proposed by the present invention.

[0023] Figure 4 It is a schematic diagram of the three-dimensional positioning detection of a glass A-frame with a positioning mechanism in an embodiment proposed by the present invention. Detailed Embodiment

[0024] It should be noted that, without conflict, the embodiments and features in the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0025] Referring to Figure 3 , a positioning mechanism of a positioning detection device for a glass packaging equipment proposed by the present invention includes: a mounting component and a detection component; the mounting component includes a substrate 1, a first positioning plate 2, a second positioning plate 6, and a first fastening bolt 8; the first positioning plate 2 and the second positioning plate 6 are respectively and vertically fixed at both ends of the substrate 1, and the first positioning plate 2 and the second positioning plate 6 are arranged face to face; the free end of the second positioning plate 6 is used to abut against a buffer pad on the vertical plate of the A-frame or a buffer pad on the bottom plate; one of the side ends adjacent to the free end of the second positioning plate 6 is used to abut against the bottom plate or the vertical plate of the A-frame; the first positioning plate 2 is provided with a threaded hole matching the first fastening bolt 8; the first fastening bolt 8 is threadedly connected to the threaded hole, the front end of the first fastening bolt 8 passes through the threaded hole, and a fixing space for fixing to the vertical plate or the bottom plate of the A-frame is formed between the front end of the first fastening bolt 8 and the second positioning plate 6;

[0026] The detection component includes a support plate 4 and a detection seat 5. The support plate 4 is vertically fixed on the side of the second positioning plate 6 away from the first positioning plate 2, and the support plate 4 is parallel to the substrate 1. The detection seat 5 is located on the side of the support plate 4 close to the substrate 1, and the detection seat 5 is rotationally connected to the support plate 4 through a rotating shaft. A detection part for three-dimensional positioning detection is provided on the detection seat 5.

[0027] During specific implementation, first, fix the positioning mechanism on the vertical plate or the bottom plate of the A-frame through the fixing space formed by the first fastening bolt 8 and the second positioning plate 6, so that the free end of the second positioning plate 6 abuts against the buffer pad on the vertical plate of the A-frame or the buffer pad on the bottom plate of the A-frame, and one of the side ends of the second positioning plate 6 adjacent to its free end abuts against the bottom plate or the vertical plate of the A-frame. Then rotate the detection seat 5 to make the detection seat 5 horizontal, which is convenient for three-dimensional positioning of the detection part of the detection seat 5, and thus convenient for positioning the A-frame.

[0028] The structure of the present invention is simple and easy to operate. It can quickly fix the positioning mechanism on the A-frame and use the position of the detection seat 5 as a reference to facilitate the positioning detection of the A-frame, which is beneficial to subsequent attitude correction according to the detected positioning information, so as to ensure that the gripper of the suction cup robot maintains a good parallelism with the plane of the A-frame and perform reliable plate placement.

[0029] In order to perform three-dimensional positioning, in this embodiment, the detection part includes an X-axis detection part, a Y-axis detection part, and a Z-axis detection part. Each detection part is located in a different plane of the detection seat 5, and the planes are perpendicular to each other in pairs.

[0030] Specifically, the detection part is made of a non-light-absorbing and non-fully reflective material so that it can be reliably detected by the laser position detection mechanism.

[0031] In this embodiment, a horizontal bubble tube 7 is provided on the detection seat 5 to facilitate precise adjustment of the level of the detection seat 5, thereby further ensuring the accuracy during three-dimensional positioning detection.

[0032] In this embodiment, a connecting plate 3 is further included. The connecting plate 3 is parallel to the first positioning plate 2. The connecting plate 3 is vertically fixed at one end of the substrate 1 away from the first positioning plate 2. The second positioning plate 6 is arranged between the connecting plate 3 and the first positioning plate 2. The second positioning plate 6 is fixedly connected to the connecting plate 3, and the connection position of the second positioning plate 6 and the connecting plate 3 can be adjusted along the position of the connecting plate 3 close to or away from the substrate 1.

[0033] With such a setting, by connecting the connection position of the second positioning plate 6 and the connecting plate 3, the distance from the substrate 1 to the free end of the second positioning plate 6 can be adjusted within a certain range, so as to be applicable to A-frames of different sizes and ensure the stability of fixation.

[0034] In this embodiment, the connection position between the support plate 4 and the second positioning plate 6 can be adjusted in the direction close to or away from the substrate 1.

[0035] Such a setting is to facilitate adjusting the distance between the detection seat 5 mounted on the support plate 4 and the buffer pad on the vertical plate or the bottom plate of the A-type frame, and to conveniently adjust the position between the detection seat 5 and the buffer pad according to requirements.

[0036] To adjust the connection position between the support plate 4 and the second positioning plate 6, in one specific embodiment, a plurality of threaded blind holes are provided on the second positioning plate 6 along the direction from the substrate 1 to the free end of the second positioning plate 6. A through hole is provided at the position corresponding to the threaded blind hole on the support plate 4. A second fastening bolt is inserted through the through hole and one of the threaded blind holes.

[0037] Of course, in other specific embodiments, the support plate 4 and the second positioning plate 6 can also be connected by means of a clamping groove and a clamping buckle or a guide rail and a clamp to facilitate adjusting the connection position between the support plate 4 and the second positioning plate 6.

[0038] In this embodiment, a stepped portion is formed by sinking at the connection between the side of the second positioning plate 6 away from the first positioning plate 2 and the free end of the second positioning plate 6, so as to avoid the glue overflowing when the buffer pad is pasted and prevent the glue from being higher than the buffer pad and contacting the glass. Of course, the thickness of the second positioning plate 6 changes according to the thickness of the buffer pad.

[0039] The present invention also proposes a positioning and detection device for a glass packaging device, including: a laser position detection mechanism and two positioning mechanisms as described in any one of the above. The two positioning mechanisms are symmetrically installed on the vertical plate or the bottom plate of the glass A-type frame, and the laser position detection mechanism is used to perform three-dimensional positioning detection on the two positioning mechanisms respectively.

[0040] Refer to Figures 1-4 , the present invention also proposes a glass packaging device, including: a suction cup robot, a glass A-type frame, and the positioning and detection device as described in any one of the above;

[0041] The two positioning mechanisms are symmetrically installed on the vertical plate or the bottom plate of the glass A-type frame. The laser position detection mechanism includes two groups of laser position detection components. Each group of laser position detection components includes a laser emitter and a laser receiver. The two groups of laser position detection components are symmetrically arranged on the gripper of the suction cup robot; the laser position detection mechanism and the suction cup robot are respectively electrically connected to the controller;

[0042] The controller is used to control the gripper of the suction cup robot to drive the laser position detection mechanism to perform three-dimensional positioning detection on the two positioning mechanisms respectively before the suction cup robot starts to load and place the plate, and determine the attitude correction value that the suction cup robot needs to adjust before placing the plate according to the detected three-dimensional positioning information;

[0043] When the suction cup robot starts to load and place the board, the controller is further configured to control the suction cup robot to correct its posture according to the posture correction value before each board placement.

[0044] In specific implementation, the suction cup robot is placed at a predetermined loading position in front of the A-frame according to a preset posture;

[0045] The controller controls the suction cup robot to act so that the gripper of the suction cup robot is placed horizontally, so that two sets of laser position detection components on the gripper of the suction cup robot are respectively aligned with the Z-axis detection parts of the detection seats 5 of the two positioning mechanisms; the two sets of laser position detection components respectively transmit the detected Z-axis distance values to the controller, and the controller calculates the difference between the Z-axis distance values of the two sets of laser position detection components according to the received Z-axis distance values of the two sets of laser position detection components; when the difference between the Z-axis distance values of the two sets of laser position detection components is not zero, the difference between the Z-axis distance values of the two sets of laser position detection components is used as the Z-axis correction value of the gripper of the suction cup robot before board placement;

[0046] The controller controls the suction cup robot to act so that the gripper of the suction cup robot is placed vertically, so that two sets of laser position detection components on the gripper of the suction cup robot are respectively aligned with the Y-axis detection parts of the detection seats 5 of the two positioning mechanisms; the two sets of laser position detection components respectively transmit the detected Y-axis distance values to the controller, and the controller calculates the difference between the two sets of Y-axis distance values according to the received two sets of Y-axis distance values; when the difference between the two sets of Y-axis distance values is not zero, the difference between the two sets of Y-axis distance values is used as the Y-axis correction value of the gripper of the suction cup robot before board placement;

[0047] The controller controls the suction cup robot to act so that the gripper of the suction cup robot is successively placed vertically outside the X-axis detection parts of the detection seats 5 of the two positioning mechanisms, so that one of the two sets of laser position detection components on the gripper of the suction cup robot is respectively aligned with the X-axis detection parts of the detection seats 5 of the two positioning mechanisms; the laser position detection components respectively transmit the detected x-axis distance values to the controller, and the controller calculates the difference between the two sets of X-axis distance values according to the received two sets of X-axis distance values; when the difference between the two sets of X-axis distance values is not zero, the difference between the two sets of X-axis distance values is used as the X-axis correction value of the gripper of the suction cup robot before board placement;

[0048] When the suction cup robot starts to load and place the board, the controller controls the suction cup robot to correct its posture according to the Z-axis correction value, Y-axis correction value and X-axis correction value before each board placement.

[0049] Such as Figure 4As shown, the present invention can complete the positioning of the A-frame once before starting to load the board, and quickly determine the Z-axis correction value, Y-axis correction value, and X-axis correction value of the gripper of the suction cup robot, which is convenient for the gripper of the suction cup robot to correct its posture before placing the board, ensuring that the gripper of the suction cup robot maintains a good parallelism with the plane of the A-frame, which is beneficial to reliable board placement.

[0050] The above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, making equivalent substitutions or changes, should be covered within the protection scope of the present invention.

Claims

1. A positioning and detection device for a glass packaging equipment, characterized in that Comprising: A laser position detection mechanism and two positioning mechanisms. The two positioning mechanisms are used for symmetrically mounting on the vertical plate or the bottom plate of the glass A-frame. The laser position detection mechanism is used for three-dimensional positioning detection of the two positioning mechanisms respectively; Wherein, the positioning mechanism comprises: a mounting component and a detection component; the mounting component comprises a substrate (1), a first positioning plate (2), a second positioning plate (6) and a first fastening bolt (8); the first positioning plate (2) and the second positioning plate (6) are respectively vertically fixed at both ends of the substrate (1), and the first positioning plate (2) and the second positioning plate (6) are arranged face to face; the free end of the second positioning plate (6) is used for abutting against the buffer pad on the vertical plate of the A-frame or the buffer pad on the bottom plate; one of the side ends adjacent to the free end of the second positioning plate (6) is used for abutting against the bottom plate or the vertical plate of the A-frame; a threaded hole matching with the first fastening bolt (8) is formed on the first positioning plate (2); the first fastening bolt (8) is threadedly connected with the threaded hole, and a fixing space for fixing with the vertical plate or the bottom plate of the A-frame is formed between the front end of the first fastening bolt (8) and the second positioning plate (6); The detection component comprises a support plate (4) and a detection seat (5). The support plate (4) is vertically fixed on the side surface of the second positioning plate (6) away from the first positioning plate (2), and the support plate (4) is parallel to the substrate (1); the detection seat (5) is located on the side of the support plate (4) close to the substrate (1), and the detection seat (5) is rotatably connected with the support plate (4) through a rotating shaft. A detection part for three-dimensional positioning detection is arranged on the detection seat (5).

2. The positioning detection device of the glass packaging equipment according to claim 1, characterized in that, It further comprises a connecting plate (3). The connecting plate (3) is parallel to the first positioning plate (2). The connecting plate (3) is vertically fixed at one end of the substrate (1) away from the first positioning plate (2). The second positioning plate (6) is arranged between the connecting plate (3) and the first positioning plate (2). The second positioning plate (6) is fixedly connected with the connecting plate (3), and the connection position of the second positioning plate (6) and the connecting plate (3) can be adjusted along the position where the connecting plate (3) is close to or away from the substrate (1).

3. The positioning detection device of the glass packaging equipment according to claim 2, characterized in that, The connection position of the support plate (4) and the second positioning plate (6) can be adjusted along the direction of approaching or departing from the substrate (1).

4. The positioning and detection device of the glass packaging equipment according to claim 3, characterized in that, A plurality of threaded blind holes are arranged on the second positioning plate (6) along the direction from the substrate (1) to the free end of the second positioning plate (6). A through hole is arranged at the position corresponding to the threaded blind hole on the support plate (4). A second fastening bolt is inserted through the through hole and one of the threaded blind holes.

5. The positioning and detection device of the glass packaging equipment according to any one of claims 1-4, characterized in that, A stepped portion is formed by sinking at the connection position between the surface of the second positioning plate (6) away from the first positioning plate (2) and the free end of the second positioning plate (6).

6. The positioning detection device of the glass packaging equipment according to claim 1, characterized in that The detection part comprises an X-axis detection part, a Y-axis detection part and a Z-axis detection part. Each detection part is located in a different plane of the detection seat (5), and the planes are perpendicular to each other in pairs.

7. The positioning detection device of the glass packaging equipment according to claim 1, wherein The detection part is made of a material that is non-light-absorbing and non-totally reflective.

8. The positioning and detection device of the glass packaging equipment according to claim 1, characterized in that, A horizontal bubble tube (7) is arranged on the detection seat (5).

9. A glass packaging device, characterized in that, Comprising: A suction cup robot, a glass A-frame and the positioning and detection device according to any one of claims 1-8; Two positioning mechanisms are symmetrically installed on the vertical plate or the bottom plate of the glass A-shaped frame; the laser position detection mechanism includes two groups of laser position detection components, each group of laser position detection components includes a laser emitter and a laser receiver, and the two groups of laser position detection components are symmetrically arranged on the gripper of the suction cup robot; the laser position detection mechanism and the suction cup robot are respectively electrically connected to the controller; The controller is used to control the gripper of the suction cup robot to drive the laser position detection mechanism to perform three-dimensional positioning detection on the two positioning mechanisms respectively before the suction cup robot starts to load and place the plate, and determine the attitude correction value that the suction cup robot needs to adjust before placing the plate according to the detected three-dimensional positioning information; When the suction cup robot starts to load and place the plate, the controller is also used to control the suction cup robot to perform attitude correction according to the attitude correction value before each plate placement.

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