An up-and-down sheet machine for glass production and a method for using the same

Abstract

The application relates to the technical field of glass production equipment, and discloses a glass production upper and lower sheet machine and a use method thereof, which comprises a mechanical arm, an adsorption mechanism and a positioning mechanism are arranged on the mechanical arm, the positioning mechanism comprises a shaft sleeve, multiple positioning plates and multiple support frames, the adsorption mechanism comprises a first linear driving assembly, a vertical shaft, a movable suction cup frame, multiple movable suction cups, a second linear driving assembly, a fixed suction cup frame and multiple fixed suction cups. When the movable glass is adsorbed, the pushing force of the glass on the movable suction cup makes the movable suction cup move, the impact is reduced, the movable suction cup is prevented from being deformed and damaged, the service life of the movable suction cup is prolonged, the glass edge is pushed by the positioning plate driven by the first linear driving assembly, the glass is accurately positioned, the operation of additionally adjusting the position of the glass after the glass is transferred in the prior art is omitted, the post-processing time is saved, the operation is simplified, the glass transfer efficiency is greatly improved, and the glass abrasion risk is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of glass production equipment, in particular to a glass loading and unloading machine for glass production and a method for using the same. Background Art

[0002] In the glass production process, molten glass is first drawn into sheets. After being drawn and formed, except for a very small number of glass products that can directly meet the requirements, most glass products need to undergo further processing to obtain products that meet the requirements. Secondary processing includes grinding, polishing, cutting, sandblasting, drilling and engraving. After secondary processing, the surface properties, appearance quality and appearance of glass products can be improved. During the secondary processing of glass products, glass loading and unloading machines are generally used for glass loading and unloading. The current loading and unloading machines are mainly composed of a robot, a suction cup rack and multiple sets of suction cups. The suction cups use a negative pressure adsorption system to generate suction. After the suction cups adsorb the glass, the robot can perform actions such as picking up, flipping, moving and placing.

[0003] The current glass loading and unloading machine has the following problems during its operation: First, some glass processing procedures require the loading and unloading machine to place the glass accurately at the work station, and because the suction cup's adsorption position cannot guarantee accuracy when the loading and unloading machine picks up the moving glass, generally after the glass is transferred to the unloading position by the loading and unloading machine, additional post-processing is required to re-position the glass. The current method is to set up an inclined positioning frame, and the loading and unloading machine first places the glass on the positioning frame. When the glass slides to the designated position on the positioning frame under gravity, the robot re-adsorbs the suction cup to the designated position on the glass surface. Although this method can achieve positioning, the steps are cumbersome and increases the number of robot arms. The action wastes time and increases the risk of glass wear; secondly, in glass production, glass is generally transported by an external conveyor belt device. The suction cups of common glass loading and unloading machines are fixed on the suction cup frame. When the suction cups adsorb the conveyed glass, since the glass has a certain speed, a thrust in the same direction of movement will be applied to the suction cups at the moment of adsorption. This thrust acts directly on the suction cups and indirectly on the suction cup frame, increasing the risk of damage to the suction cups and the suction cup frame. At the same time as the suction cups adsorb the glass, they are subjected to an external horizontal thrust, which will affect the adsorption effect between the suction cups and the glass, reduce the stability of the glass during transportation, and make the glass have the risk of falling.

[0004] Currently, no effective solutions have been proposed for the problems in related technologies. Summary of the Invention

[0005] In response to the shortcomings of the existing technology, the present invention provides a glass loading and unloading machine for glass production, which has the advantages of a suction cup that is not easily damaged, convenient and quick positioning of glass, saving glass transfer time, and reducing the risk of glass wear. It solves the problem that the suction cup and suction cup frame of the current glass loading and unloading machine are easily damaged due to force when adsorbing moving glass. At the same time, the current glass loading and unloading machine cannot guarantee accuracy when adsorbing glass and requires secondary positioning, which leads to increased transfer time and increased risk of glass wear.

[0006] To solve the above technical problems, the present invention provides the following technical solutions: A glass loading and unloading machine for glass production, comprising a robotic arm, wherein the robotic arm is provided with an adsorption mechanism and a positioning mechanism, wherein the positioning mechanism comprises a shaft sleeve, a plurality of positioning plates, and a plurality of support frames, and the adsorption mechanism comprises a first linear drive assembly, a vertical shaft, a movable suction cup frame, a plurality of movable suction cups, a second linear drive assembly, a fixed suction cup frame, and a plurality of fixed suction cups;

[0007] The shaft sleeve is arranged at the end of the robot arm, and the plurality of positioning plates are respectively located around the fixed suction cup frame. When the vertical shaft moves vertically, the positioning plate is driven to move by the support frame. The vertical shaft is movably plugged into the shaft sleeve and the bottom end extends to the outside of the shaft sleeve. The first linear drive assembly is installed on the shaft sleeve for driving the vertical movement of the vertical shaft. The movable suction cup frame is fixed to the bottom end of the vertical shaft. A plurality of mounting slots are provided on the movable suction cup frame. The plurality of movable suction cups are respectively movably installed in each mounting slot. When the movable suction cup is subjected to a horizontal thrust, it can move horizontally in the mounting slot.

[0008] When the first linear drive assembly drives the vertical axis downward, it drives the movable suction cup to contact the glass transported on the external conveyor belt for suction, and drives the multiple positioning plates to expand outward; when the first linear drive assembly drives the vertical axis upward, it drives the glass sucked by the movable suction cup to move upward, and drives the multiple positioning plates to contract inward. The positioning plates apply force to the periphery of the glass to push the movable suction cup to drive the glass to move;

[0009] The fixed suction cup frame is located directly above the movable suction cup frame, and the multiple fixed suction cups are fixedly connected to the bottom of the fixed suction cup frame, and the movable suction cups are located on the outer periphery of the fixed suction cup. The second linear drive assembly is installed on the vertical axis to drive the fixed suction cup frame to move vertically.

[0010] Preferably, the support frame includes a support beam, one end of the support beam is fixedly connected to the shaft sleeve, the other end of the support beam is hinged with a movable arm, the end of the movable arm away from the support beam is fixedly connected to the positioning plate, the middle part of the movable arm is hinged with a connecting rod, and the end of the connecting rod away from the movable arm is connected to the vertical axis through an adjustment component.

[0011] Preferably, the adjustment assembly includes a vertical slide rail, which is fixed to the outer wall of the vertical shaft, and a vertical slider and an adjustment screw are provided inside the vertical slide rail. The vertical slider is slidably connected to the vertical slide rail, and the vertical slider is hinged to the end of the connecting rod. The adjustment screw passes through the vertical slider and is threadedly connected to the vertical slider. Both ends of the adjustment screw are movably connected to the vertical slide rail, and one end of the adjustment screw is fixedly connected to a screw cap.

[0012] Preferably, the positioning plate includes a mounting plate, the mounting plate is fixedly connected to the end of the movable arm, a slide is provided on the side of the mounting plate close to the fixed suction cup frame, the slide is fixedly connected to the mounting plate, a positioning piece is provided on the side of the slide close to the fixed suction cup frame, and the positioning piece is connected to the slide in a transverse sliding manner.

[0013] Preferably, a longitudinal slide groove is provided on the inner wall of the installation groove, a mounting frame is provided in the installation groove, a longitudinal slider is fixedly connected to the end of the installation frame, the longitudinal slider is slidably connected to the longitudinal slide groove, a transverse slide groove is provided on the inner wall of the installation frame, a transverse slider is provided in the installation frame, the transverse slider is slidably connected to the transverse slide groove, and the movable suction cup is fixed at the bottom of the transverse slider.

[0014] Preferably, longitudinal return springs are fixedly connected on both sides of the longitudinal slider, and the ends of the two longitudinal return springs away from the longitudinal slider are respectively fixedly connected to the end walls of the longitudinal slide groove; transverse return springs are fixedly connected on both sides of the transverse slider, and the ends of the two transverse return springs away from the transverse slider are respectively fixedly connected to the inner wall of the mounting frame.

[0015] Preferably, the sleeve is rotatably mounted on the end of the robotic arm, a driven gear is fixed to the outer wall of the sleeve, and a motor is further provided at the end of the robotic arm. A driving gear is fixed to the output shaft of the motor, and the driving gear is meshed with the driven gear.

[0016] Preferably, a protective cover is fixed to the end of the robotic arm, the protective cover is sleeved outside the driving gear and the driven gear, and the motor is fixedly connected to the protective cover.

[0017] Preferably, a guide rod is fixedly connected to the top of the movable suction cup frame, and the guide rod slides through the fixed suction cup frame.

[0018] Compared with the prior art, the present invention provides a glass loading and unloading machine for glass production, which has the following beneficial effects:

[0019] 1. This glass loading and unloading machine is provided with multiple movable suction cups. When the movable suction cups are used to absorb the moving glass, the thrust applied by the glass to the movable suction cups drives the movable suction cups to move horizontally in the installation grooves, avoiding the thrust acting directly on the movable suction cups or the movable suction cup frames, reducing the impact, and thus avoiding the movable suction cups and the movable suction cup frames from being deformed and damaged after being subjected to lateral thrust, thereby improving the service life of the movable suction cups. After the movable suction cups absorb the glass, the first linear drive component is used to drive the glass to move upward, which will drive multiple positioning plates to push the edge of the glass, and then move the glass together with the movable suction cups to achieve a positioning effect. Finally, the fixed suction cups are driven downward by the second linear drive component to absorb and fix the positioned glass. In this way, the position of the glass can be corrected during the process of transporting the glass after adsorbing the glass, thereby ensuring stable transportation of the glass and placement accuracy during unloading. The existing technology omits the additional operation of adjusting the position of the glass after transporting the glass, saving post-processing time and streamlining operations, greatly improving the efficiency of glass transport, and reducing the risk of glass wear.

[0020] 2. This type of glass production loading and unloading machine is provided with a positioning piece that is slidably connected to the slide. When the positioning piece pushes the glass to achieve positioning, the friction between the edge of the glass and the positioning piece can push the positioning piece to slide along the slide, thereby reducing friction, improving safety performance, reducing wear on the positioning piece, and increasing the service life of the positioning piece 33.

[0021] 3. This type of glass loading and unloading machine is equipped with an adjustment component. By rotating the screw cap, the position of the vertical slider can be adjusted, and then the position of the connection point between the connecting rod and the vertical axis can be adjusted. This is conducive to controlling the swing stroke of the movable arm and the positioning plate, thereby adapting to different specifications of glass and improving applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the three-dimensional structure of a glass loading and unloading machine for glass production according to the present invention;

[0023] Figure 2 For the present invention Figure 1 A magnified view of the structure of part A;

[0024] Figure 3 This is a working schematic diagram of a glass loading and unloading machine for glass production according to the present invention;

[0025] Figure 4 A top view of a glass loading and unloading machine for glass production according to the present invention;

[0026] Figure 5 This is a schematic cross-sectional view of the protective cover of the present invention;

[0027] Figure 6 For the present invention Figure 5 A magnified view of the C-section structure;

[0028] Figure 7 It is a schematic diagram of the three-dimensional structure of the movable suction cup frame of the present invention;

[0029] Figure 8 For the present invention Figure 7 A magnified view of the structure of part B;

[0030] Figure 9 It is a schematic diagram of the three-dimensional structure of the fixed suction cup frame of the present invention.

[0031] In the figure: 1. Robotic arm; 2. Bushing; 3. Positioning plate; 31. Mounting plate; 32. Slide; 33. Positioning piece; 4. Support frame; 41. Support beam; 42. Movable arm; 43. Connecting rod; 5. First linear drive assembly; 6. Vertical axis; 7. Movable suction cup frame; 8. Movable suction cup; 9. Second linear drive assembly; 10. Fixed suction cup frame; 11. Fixed suction cup; 12. Mounting slot; 13. Adjustment assembly; 131. Vertical slide rail; 132. Vertical slider; 133. Adjustment screw; 134. Screw cap; 14. Longitudinal slide; 15. Mounting frame; 16. Longitudinal slider; 17. Horizontal slide; 18. Horizontal slider; 19. Longitudinal return spring; 20. Horizontal return spring; 21. Driven gear; 22. Motor; 23. Driving gear; 24. Protective cover; 25. Guide rod. DETAILED DESCRIPTION

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0033] As introduced in the background technology, there are deficiencies in the existing technology. In order to solve the above technical problems, this application proposes a loading and unloading machine for glass production.

[0034] See also Figures 1-4 A glass production loading and unloading machine includes a robotic arm 1, the robotic arm 1 is provided with an adsorption mechanism and a positioning mechanism, the positioning mechanism includes a shaft sleeve 2, multiple positioning plates 3 and multiple support frames 4, the adsorption mechanism includes a first linear drive component 5, a vertical shaft 6, a movable suction cup frame 7, multiple movable suction cups 8, a second linear drive component 9, a fixed suction cup frame 10 and multiple fixed suction cups 11;

[0035] The shaft sleeve 2 is arranged at the end of the robot arm 1, and the plurality of positioning plates 3 are respectively located around the fixed suction cup frame 10. When the vertical shaft 6 moves vertically, the positioning plate 3 is driven to move by the support frame 4. The vertical shaft 6 is movably plugged into the shaft sleeve 2 and the bottom end extends to the outside of the shaft sleeve 2. The first linear drive assembly 5 is installed on the shaft sleeve 2 to drive the vertical movement of the vertical shaft 6. The movable suction cup frame 7 is fixed to the bottom end of the vertical shaft 6. The movable suction cup frame 7 is provided with a plurality of mounting grooves 12. The plurality of movable suction cups 8 are respectively movably installed in each mounting groove 12. When the movable suction cup 8 is subjected to a horizontal thrust, it can move horizontally in the mounting groove 12;

[0036] When the first linear drive assembly 5 drives the vertical shaft 6 to move downward, the movable suction cup 8 is driven to contact the glass transported on the external conveyor belt for suction, and the plurality of positioning plates 3 are driven to expand outward; when the first linear drive assembly 5 drives the vertical shaft 6 to move upward, the glass sucked by the movable suction cup 8 is driven to move upward, and the plurality of positioning plates 3 are driven to contract inward. The positioning plates 3 exert force on the periphery of the glass to push the movable suction cup 8 to drive the glass to move;

[0037] The fixed suction cup frame 10 is located directly above the movable suction cup frame 7, and the multiple fixed suction cups 11 are fixedly connected to the bottom of the fixed suction cup frame 10, and the movable suction cup 8 is located on the outer periphery of the fixed suction cup 11. The second linear drive component 9 is installed on the vertical shaft 6 and is used to drive the fixed suction cup frame 10 to move vertically.

[0038] Among them, the positions and numbers of the positioning plates 3 and the support frames 4 correspond one to one, and the number of the positioning plates 3 and the support frames 4 is preferably four;

[0039] The movable suction cup 8 and the fixed suction cup 11 are connected to the vacuum system through corresponding pipes. The vacuum system and the pipes are both existing technologies and will not be described in detail here.

[0040] The first linear drive assembly 5 and the second linear drive assembly 9 are preferably cylinders of the prior art, and may also be other components capable of executing linear drive commands, such as electric push rods;

[0041] When in use, the external conveyor belt device transports the glass, and the robotic arm 1 drives the adsorption mechanism and the positioning mechanism to move above the glass. The first linear drive component 5 drives the vertical shaft 6 to move downward. When the vertical shaft 6 moves downward, it drives the movable suction cup frame 7 at the bottom to move downward. When the movable suction cup frame 7 moves downward, it drives multiple movable suction cups 8 to move down to contact the glass. At the same time, the downward movement of the vertical shaft 6 also drives the positioning plate 3 to swing through the support frame 4, so that the positioning plate 3 expands outward and is located outside the glass, so as to prevent the positioning plate 3 from affecting the adsorption process of the glass. After the movable suction cup 8 is in operation, the glass is adsorbed to achieve preliminary fixation; In the interval between the moment when the plate 8 is adsorbed and the glass is completely separated from the external conveyor belt device, the glass continuously transported on the conveyor belt generates a thrust in the same direction of movement on the movable suction cup 8. After the thrust acts on the movable suction cup 8, it drives the movable suction cup 8 to move horizontally for a distance in the installation groove 12, so as to overcome the thrust brought by the glass by the movement of the movable suction cup 8, avoid the horizontal thrust acting on the movable suction cup 8 increasing the risk of damage to the movable suction cup 8, and ensure the stable adsorption effect of the movable suction cup 8 on the glass; then the first linear drive component 5 drives the vertical shaft 6 to move upward, and the vertical shaft 6 moves upward When the movable suction cup frame 7 at the bottom is moved upward, the upward movement of the movable suction cup frame 7 drives the multiple movable suction cups 8 installed on the movable suction cup frame 7 to move upward, and the upward movement of the movable suction cup 8 drives the adsorbed glass to move upward. At the same time, the vertical shaft 6 also drives the positioning plate 3 to swing through the support frame 4, so that the positioning plate 3 shrinks inward. When there is a positioning plate 3 in contact with one side of the glass, as the positioning plate 3 continues to shrink, it can apply a thrust to this side of the glass, pushing the movable suction cup 8 to move horizontally in the installation groove 12, so that the glass moves until the glass moves to the four sides and contacts the corresponding positioning plates 3 respectively. When the glass is touched, it is positioned at the center of the inner side of the positioning plate 3, and then the position of the glass is corrected. At this time, the first linear drive component 5 stops running. After the vertical axis 6 stops moving, the positioning plate 3 can drive the movable suction cup 8 and the glass fixed thereon to maintain the current state; then the second linear drive component 9 is started to drive the fixed suction cup frame 10 at the output end of the second linear drive component 9 to move downward. When the fixed suction cup frame 10 moves downward, it drives multiple fixed suction cups 11 to move downward until they contact the glass surface after the position is corrected. After the fixed suction cup 11 is running, it absorbs the glass to achieve secondary fixation of the glass;

[0042] After the adsorption mechanism, positioning mechanism and adsorbed glass are moved to the top of the workstation by the robotic arm 1, the vertical axis 6 is driven downward by the first linear drive assembly 5, so that the glass adsorbed by the fixed suction cup frame 10 and the movable suction cup 8 falls to the unloading position, and the positioning plate 3 expands outward to release the limit on the side of the glass. After the adsorption effect of the movable suction cup 8 and the fixed suction cup 11 is released, the glass transfer process is completed;

[0043] By setting up a plurality of movable suction cups 8 that can move horizontally in the installation grooves 12, when the movable suction cups 8 are used to absorb the moving glass, the thrust applied by the glass to the movable suction cups 8 drives the movable suction cups 8 to move horizontally in the installation grooves 12, thereby avoiding the thrust acting directly on the movable suction cups 8 or the movable suction cup frames 7, thereby avoiding the movable suction cups 8 and the movable suction cup frames 7 from being deformed and damaged after being subjected to lateral thrust, thereby improving the service life of the movable suction cups 8. After the movable suction cups 8 absorb the glass, when the first linear drive component 5 is used to drive the glass to move upward, at the same time, the transmission action of the support frame 4 can also drive the plurality of positioning plates 3 to swing, and the swinging positioning plates 3 push the edge of the glass , and then move the glass together with the movable suction cup 8 to achieve the positioning effect, and finally drive the fixed suction cup 11 to move down through the second linear drive component 9 to adsorb and fix the positioned glass, which can ensure the stability of the positioned glass. Through the functional cooperation of the fixed suction cup 11, the movable suction cup 8 and the positioning plate 3, the position of the glass can be corrected during the process of transporting the glass after adsorbing the glass, ensuring the stable transportation of the glass and the placement accuracy during unloading, omitting the operation of additional adjustment of the glass position after transporting the glass in the prior art, saving post-processing time and streamlining operations, greatly improving the efficiency of glass transportation, and reducing the risk of glass wear.

[0044] Further, refer to Figure 5 The support frame 4 includes a support beam 41, one end of the support beam 41 is fixedly connected to the shaft sleeve 2, and the other end of the support beam 41 is hinged with a movable arm 42, and the movable arm 42 is fixedly connected to the positioning plate 3 at one end away from the support beam 41, and a connecting rod 43 is hinged in the middle of the movable arm 42, and the connecting rod 43 is connected to the vertical shaft 6 through the adjustment component 13 at one end away from the movable arm 42.

[0045] When in use, the vertical axis 6 moves up and down, which can drive the end of the connecting rod 43 to move vertically. Since one end of the connecting rod 43 is hinged to the middle of the movable arm 42, and one end of the movable arm 42 is hinged to the end of the support beam 41, when the connecting rod 43 moves vertically close to one end of the vertical axis 6, the other end of the connecting rod 43 will drive the movable arm 42 to rotate. At this time, when the movable arm 42 rotates around the end, it can drive the positioning plate 3 to swing.

[0046] When the vertical axis 6 moves upward, it will drive the positioning plate 3 to contract inward, causing the positioning plate 3 to swing close to the side of the glass, and then push the glass, facilitating the positioning of the glass. When the vertical axis 6 moves downward, it will drive the positioning plate 3 to expand outward, preventing the positioning plate 3 from contacting the glass and interfering with the operation of the movable suction cup 8 to adsorb the glass.

[0047] Further, refer to Figure 2 and Figure 5The adjustment component 13 includes a vertical slide rail 131, which is fixed to the outer wall of the vertical shaft 6. A vertical slider 132 and an adjusting screw 133 are provided inside the vertical slide rail 131. The vertical slider 132 is slidably connected to the vertical slide rail 131. The vertical slider 132 is hinged to the end of the connecting rod 43. The adjusting screw 133 passes through the vertical slider 132 and is threadedly connected to the vertical slider 132. Both ends of the adjusting screw 133 are movably connected to the vertical slide rail 131, and one end of the adjusting screw 133 is fixedly connected to a screw cap 134.

[0048] When in use, the screw cap 134 is rotated, and the screw cap 134 rotates to drive the adjusting screw 133 to rotate. Since the vertical slider 132 is threadedly connected to the adjusting screw 133, and the vertical slider 132 is slidably connected to the vertical slide rail 131, when the adjusting screw 133 rotates, it can drive the vertical slider 132 to move along the vertical slide rail 131. When the vertical slider 132 moves, it will drive the end of the connecting rod 43 to move. When the end of the connecting rod 43 moves, it pulls the movable arm 42 to rotate through the other end. When the movable arm 42 rotates, it drives the positioning plate 3 to rotate.

[0049] The position of the vertical slider 132 is adjusted by rotating the screw cap 134, which is conducive to further adjusting the initial position of the positioning plate 3. When the initial position of the positioning plate 3 changes, the final position of the positioning plate 3 after movement also changes accordingly, which is conducive to adapting to the positioning requirements of glass of different specifications and improving applicability.

[0050] Further, refer to Figure 5 and Figure 6 The positioning plate 3 includes a mounting plate 31, and the mounting plate 31 is fixedly connected to the end of the movable arm 42. The mounting plate 31 is provided with a slide 32 on the side close to the fixed suction cup frame 10. The slide 32 is fixedly connected to the mounting plate 31. The slide 32 is provided with a positioning piece 33 on the side close to the fixed suction cup frame 10. The positioning piece 33 is connected to the slide 32 in a transverse sliding manner.

[0051] The slide 32 and the positioning piece 33 are respectively provided with matching sliders and slide grooves to enable the lateral sliding of the positioning piece 33. The slide 32 and the positioning piece 33 are also provided with limit blocks to prevent them from falling off after sliding. The surface of the positioning piece 33 is preferably set to a rubber material to protect the edge of the glass.

[0052] When in use, when the glass moves under the thrust of different positioning pieces 33, the friction force of the glass edge on the positioning piece 33 drives the positioning piece 33 to slide laterally;

[0053] By providing a laterally slidable positioning piece 33 and utilizing the sliding property of the positioning piece 33 , the friction between the glass edge and the positioning piece 33 is reduced during the positioning process, thereby improving safety performance, reducing wear of the positioning piece 33 , and increasing the service life of the positioning piece 33 .

[0054] Further, refer to Figure 7 and Figure 8 The inner wall of the mounting groove 12 is provided with a longitudinal slide groove 14, and a mounting frame 15 is provided in the mounting groove 12. The end of the mounting frame 15 is fixedly connected with a longitudinal slider 16, and the longitudinal slider 16 is slidably connected to the longitudinal slide groove 14. The inner wall of the mounting frame 15 is provided with a transverse slide groove 17, and a transverse slider 18 is provided in the mounting frame 15. The transverse slider 18 is slidably connected to the transverse slide groove 17, and the movable suction cup 8 is fixedly connected to the bottom of the transverse slider 18.

[0055] In the initial state, the transverse slider 18 is located at the center of the mounting slot 12, thereby ensuring that there is space for movement on all sides of the transverse slider 18;

[0056] When in use, when the movable suction cup 8 absorbs the moving glass, the thrust applied by the glass to the movable suction cup 8 will push the movable suction cup 8, and the movement of the movable suction cup 8 drives the transverse slider 18 to move. Depending on the direction of the thrust, the transverse slider 18 can slide transversely along the mounting frame 15 or drive the mounting frame 15 to slide longitudinally along the longitudinal slide groove 14;

[0057] By providing a movable active suction cup 8, it is ensured that the active suction cup 8 moves within the range of the installation groove 12 after being subjected to force, thereby avoiding damage to the active suction cup 8 caused by directly bearing the thrust, thereby increasing the service life of the active suction cup 8.

[0058] Further, refer to Figure 8 , both sides of the longitudinal slider 16 are fixedly connected with longitudinal return springs 19, and the ends of the two longitudinal return springs 19 away from the longitudinal slider 16 are respectively fixedly connected to the end walls of the longitudinal slide 14, and both sides of the transverse slider 18 are fixedly connected with transverse return springs 20, and the ends of the two transverse return springs 20 away from the transverse slider 18 are respectively fixedly connected to the inner walls of the mounting frame 15.

[0059] When in use, when the movable suction cup 8 is pushed by the glass and moves, the movable suction cup 8 drives the transverse slider 18 and the mounting frame 15 to move. When the transverse slider 18 moves, the transverse return spring 20 is deformed, and when the mounting frame 15 moves, the longitudinal return spring 19 is deformed.

[0060] When the movable suction cup 8 no longer absorbs the glass, the elastic force of the transverse return spring 20 and the longitudinal return spring 19 can drive the transverse slider 18 and the movable suction cup 8 to move back to the center of the installation groove 12, thereby preventing the movable suction cup 8 from moving to the edge of the installation groove 12 and affecting movement in a certain direction.

[0061] Further, refer to Figure 5 The shaft sleeve 2 is rotatably mounted on the end of the robotic arm 1. A driven gear 21 is fixed to the outer wall of the shaft sleeve 2. A motor 22 is also provided at the end of the robotic arm 1. A driving gear 23 is fixed to the output shaft of the motor 22. The driving gear 23 is engaged with the driven gear 21. A protective cover 24 is fixed to the end of the robotic arm 1. The protective cover 24 is sleeved on the outside of the driving gear 23 and the driven gear 21. The motor 22 is fixedly connected to the protective cover 24.

[0062] When in use, the motor 22 drives the driving gear 23 to rotate when it is running, and the driving gear 23 drives the driven gear 21 to rotate when it rotates, and the driven gear 21 drives the sleeve 2 to rotate when it rotates. When the sleeve 2 rotates, it can drive the adsorption mechanism and the positioning mechanism to rotate, which is conducive to adjusting the angles of the adsorption mechanism and the positioning mechanism, and thus adapting to different material picking and placing requirements.

[0063] Further, refer to Figure 3 and Figure 7 , the top of the movable suction cup frame 7 is fixedly connected with a guide rod 25, and the guide rod 25 slides through the fixed suction cup frame 10;

[0064] The guide rod 25 can guide the fixed suction cup frame 10 to ensure that the fixed suction cup frame 10 is always located directly below the movable suction cup frame 7.

[0065] Working principle: When in use, the external conveyor belt device transports the glass, and the robotic arm 1 drives the adsorption mechanism and the positioning mechanism to move above the glass. After the first linear drive component 5 is in operation, it drives the vertical shaft 6 to move downward. When the vertical shaft 6 moves downward, it drives the movable suction cup frame 7 at the bottom to move downward. When the movable suction cup frame 7 moves downward, it drives multiple movable suction cups 8 to move down to contact the glass. At the same time, the downward movement of the vertical shaft 6 also drives the end of the connecting rod 43 to move downward. When one end of the connecting rod 43 moves vertically downward, the other end pushes the movable arm 42 to rotate the movable arm 42 around the hinge point. When the movable arm 42 rotates, it drives the positioning plate 3 to rotate, so that the positioning plate 3 expands outward and is located on the outside of the glass, so as to prevent the positioning plate 3 from affecting the adsorption process of the glass. After the movable suction cup 8 contacts the glass, it adsorbs the glass to achieve preliminary fixation.

[0066] If the movable suction cup 8 adsorbs the glass moving on the conveyor, during the interval from the moment the movable suction cup 8 adsorbs to the moment the glass completely leaves the conveyor, the glass continuously transported on the conveyor belt generates a thrust on the movable suction cup 8 in the same direction of movement. The thrust applied by the glass to the movable suction cup 8 will push the movable suction cup 8, and the movement of the movable suction cup 8 drives the horizontal slider 18 to move, so as to overcome the thrust brought by the glass through the movement of the movable suction cup 8, avoid the horizontal thrust acting on the movable suction cup 8 increasing the risk of damage to the movable suction cup 8, and ensure the stable adsorption effect of the movable suction cup 8 on the glass. According to the different thrust directions, the horizontal slider 18 can slide horizontally along the mounting frame 15 or drive the mounting frame 15 to slide longitudinally along the longitudinal slide groove 14. At the same time, when the horizontal slider 18 moves, the horizontal return spring 20 is deformed, and when the mounting frame 15 moves, the longitudinal return spring 19 is deformed.

[0067] Afterwards, the first linear drive assembly 5 drives the vertical shaft 6 to move upward again. When the vertical shaft 6 moves upward, it drives the movable suction cup frame 7 at the bottom to move upward. The movable suction cup frame 7 moves upward and drives the multiple movable suction cups 8 installed on the movable suction cup frame 7 to move upward. The movable suction cup 8 moves upward and drives the adsorbed glass to move upward. At the same time, when the vertical shaft 6 moves upward, it also drives the end of the connecting rod 43 to move upward. When one end of the connecting rod 43 moves vertically upward, the other end will pull the movable arm 42 to rotate the movable arm 42 around the hinge point. When the movable arm 42 rotates, it drives the positioning plate 3 to rotate, causing the positioning plate 3 to shrink inward. When one of the positioning plates 3 contacts one side of the glass, as the positioning plate 3 continues to contract, it can apply a thrust to this side of the glass, pushing the movable suction cup 8 to move horizontally in the installation groove 12, so that the glass moves until the glass moves to all four sides and contacts the corresponding positioning plates 3. At this time, the glass is positioned at the center position of the inner side of the positioning plate 3, and then the position of the glass is corrected. At this time, the first linear drive component 5 stops running. After the vertical shaft 6 stops moving, the positioning plate 3 can drive the movable suction cup 8 and the fixed glass to maintain the current state;

[0068] Then the second linear drive assembly 9 is started to drive the fixed suction cup frame 10 at the output end of the second linear drive assembly 9 to move downward. When the fixed suction cup frame 10 moves downward, it drives multiple fixed suction cups 11 to move downward until they contact the glass surface after the position is corrected. After the fixed suction cup 11 is in operation, it adsorbs the glass to achieve secondary fixation of the glass. After the secondary fixation, the adsorption of the movable suction cup 8 is released to prevent the movable suction cup 8 from being continuously affected by the elastic force of the longitudinal return spring 19 squeezing the longitudinal slider 16 in the horizontal direction or the elastic force of the transverse return spring 20 squeezing the transverse slider 18, so as to prevent the stability of the movable suction cup 8 adsorbing the glass from being affected, and to prevent the positioning plate 3 from continuously applying excessive force on the periphery of the glass to overcome the spring elastic force, thereby causing adverse effects on the quality of the glass.

[0069] After the adsorption effect of the movable suction cup 8 is released, the movable suction cup 8 loses connection with the glass and is no longer affected by the thrust from the positioning plate 3. The longitudinal return spring 19 and the transverse return spring 20 automatically rebound and reset. After the springs are reset, the movable suction cup 8 is opened again. At this time, the movable suction cup 8 is no longer affected by the external force in the horizontal direction, and will not have a negative impact on the adsorption and positioning of the glass. The movable suction cup 8 can adsorb the glass together with the fixed suction cup frame 10, thereby improving the stability of the glass during transportation.

[0070] Then the robotic arm 1 moves the adsorption mechanism, the positioning mechanism and the adsorbed glass to the top of the work station, and the first linear drive component 5 drives the vertical shaft 6 to move downward after operation, and the vertical shaft 6 drives the movable suction cup frame 7 to move downward, and when the movable suction cup frame 7 moves downward, it drives the second linear drive component 9, the fixed suction cup frame 10, the fixed suction cup 11, the movable suction cup 8 and the adsorbed glass to fall to the unloading position. At the same time, when the vertical shaft 6 moves downward, it also drives the positioning plate 3 to swing through the transmission of the support frame 4, and the positioning plate 3 expands outward to release the limit on the side of the glass to avoid affecting the placement of the glass. Finally, after the glass moves down to the work station, the adsorption effect of the movable suction cup 8 and the fixed suction cup 11 is released, and the glass transfer process is completed;

[0071] By setting up a plurality of movable suction cups 8 that can move horizontally in the installation grooves 12, when the movable suction cups 8 are used to absorb the moving glass, the thrust applied by the glass to the movable suction cups 8 drives the movable suction cups 8 to move horizontally in the installation grooves 12, thereby avoiding the thrust acting directly on the movable suction cups 8 or the movable suction cup frames 7, thereby avoiding the movable suction cups 8 and the movable suction cup frames 7 from being deformed and damaged after being subjected to lateral thrust, thereby improving the service life of the movable suction cups 8. After the movable suction cups 8 absorb the glass, when the first linear drive component 5 is used to drive the glass to move upward, at the same time, the transmission action of the support frame 4 can also drive the plurality of positioning plates 3 to swing, and the swinging positioning plates 3 push the edge of the glass , and then move the glass together with the movable suction cup 8 to achieve the positioning effect, and finally drive the fixed suction cup 11 to move down through the second linear drive component 9 to adsorb and fix the positioned glass, which can ensure the stability of the positioned glass. Through the functional cooperation of the fixed suction cup 11, the movable suction cup 8 and the positioning plate 3, the position of the glass can be corrected during the process of transporting the glass after adsorbing the glass, ensuring the stable transportation of the glass and the placement accuracy during unloading, omitting the operation of additional adjustment of the glass position after transporting the glass in the prior art, saving post-processing time and streamlining operations, greatly improving the efficiency of glass transportation, and reducing the risk of glass wear.

[0072] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A glass loading and unloading machine for glass production, comprising a robotic arm (1), characterized in that: The robotic arm (1) is provided with an adsorption mechanism and a positioning mechanism, the positioning mechanism comprising a shaft sleeve (2), a plurality of positioning plates (3) and a plurality of support frames (4), the adsorption mechanism comprising a first linear drive assembly (5), a vertical shaft (6), a movable suction cup frame (7), a plurality of movable suction cups (8), a second linear drive assembly (9), a fixed suction cup frame (10) and a plurality of fixed suction cups (11); The shaft sleeve (2) is arranged at the end of the robot arm (1), and the plurality of positioning plates (3) are respectively located around the fixed suction cup frame (10). When the vertical shaft (6) moves vertically, the positioning plate (3) is driven to move by the support frame (4). The vertical shaft (6) is movably plugged into the shaft sleeve (2) and the bottom end extends to the outside of the shaft sleeve (2). The first linear drive component (5) is installed on the shaft sleeve (2) and is used to drive the vertical shaft (6) to move vertically. The movable suction cup frame (7) is fixed to the bottom end of the vertical shaft (6). The movable suction cup frame (7) is provided with a plurality of mounting slots (12). The plurality of movable suction cups (8) are respectively movably installed in each mounting slot (12). When the movable suction cup (8) is subjected to a horizontal thrust, it can move horizontally in the mounting slot (12). When the first linear drive component (5) drives the vertical shaft (6) to move downward, the movable suction cup (8) is driven to contact the glass transported on the external conveyor belt for adsorption, and the plurality of positioning plates (3) are driven to expand outward; when the first linear drive component (5) drives the vertical shaft (6) to move upward, the glass adsorbed by the movable suction cup (8) is driven to move upward, and the plurality of positioning plates (3) are driven to contract inward, and the positioning plates (3) exert force on the periphery of the glass to push the movable suction cup (8) to drive the glass to move; The fixed suction cup frame (10) is located directly above the movable suction cup frame (7), the plurality of fixed suction cups (11) are fixedly connected to the bottom of the fixed suction cup frame (10), and the movable suction cups (8) are located on the periphery of the fixed suction cups (11), and the second linear drive assembly (9) is installed on the vertical shaft (6) and is used to drive the fixed suction cup frame (10) to move vertically.

2. The glass production loading and unloading machine according to claim 1, characterized in that: The support frame (4) includes a support beam (41), one end of the support beam (41) is fixedly connected to the shaft sleeve (2), the other end of the support beam (41) is hinged with a movable arm (42), the end of the movable arm (42) away from the support beam (41) is fixedly connected to the positioning plate (3), the middle part of the movable arm (42) is hinged with a connecting rod (43), and the end of the connecting rod (43) away from the movable arm (42) is connected to the vertical shaft (6) through an adjustment component (13).

3. The glass production loading and unloading machine according to claim 2, characterized in that: The adjusting assembly (13) includes a vertical slide rail (131), the vertical slide rail (131) is fixed to the outer wall of the vertical shaft (6), a vertical slider (132) and an adjusting screw (133) are provided inside the vertical slide rail (131), the vertical slider (132) is slidably connected to the vertical slide rail (131), the vertical slider (132) is hinged to the end of the connecting rod (43), the adjusting screw (133) passes through the vertical slider (132) and is threadedly connected to the vertical slider (132), both ends of the adjusting screw (133) are movably connected to the vertical slide rail (131), and one end of the adjusting screw (133) is fixedly connected to a screw cap (134).

4. The glass production loading and unloading machine according to claim 3, characterized in that: The positioning plate (3) comprises a mounting plate (31), the mounting plate (31) being fixedly connected to the end of the movable arm (42), a slide (32) being provided on a side of the mounting plate (31) close to the fixed suction cup frame (10), the slide (32) being fixedly connected to the mounting plate (31), a positioning piece (33) being provided on a side of the slide (32) close to the fixed suction cup frame (10), the positioning piece (33) being laterally slidably connected to the slide (32).

5. The glass loading and unloading machine for glass production according to claim 4, characterized in that: The inner wall of the installation slot (12) is provided with a longitudinal slide groove (14), the installation slot (12) is provided with an installation frame (15), the end of the installation frame (15) is fixedly connected with a longitudinal slider (16), the longitudinal slider (16) is slidably connected to the longitudinal slide groove (14), the inner wall of the installation frame (15) is provided with a transverse slide groove (17), the installation frame (15) is provided with a transverse slide groove (18), the transverse slide groove (18) is slidably connected to the transverse slide groove (17), and the movable suction cup (8) is fixed to the bottom of the transverse slide groove (18).

6. The glass loading and unloading machine for glass production according to claim 5, characterized in that: Both sides of the longitudinal slider (16) are fixedly connected with longitudinal return springs (19), and one end of the two longitudinal return springs (19) away from the longitudinal slider (16) is fixedly connected to the end wall of the longitudinal slide groove (14). Both sides of the transverse slider (18) are fixedly connected with transverse return springs (20), and one end of the two transverse return springs (20) away from the transverse slider (18) is fixedly connected to the inner wall of the installation frame (15).

7. The glass loading and unloading machine for glass production according to claim 6, characterized in that: The shaft sleeve (2) is rotatably mounted on the end of the mechanical arm (1); a driven gear (21) is fixed to the outer wall of the shaft sleeve (2); a motor (22) is further provided at the end of the mechanical arm (1); a driving gear (23) is fixed to the output shaft of the motor (22); and the driving gear (23) is meshed with the driven gear (21).

8. The glass loading and unloading machine for glass production according to claim 7, characterized in that: A protective cover (24) is fixed to the end of the mechanical arm (1), and the protective cover (24) is sleeved outside the driving gear (23) and the driven gear (21), and the motor (22) is fixedly connected to the protective cover (24).

9. The glass production loading and unloading machine according to claim 8, characterized in that: A guide rod (25) is fixedly connected to the top of the movable suction cup frame (7), and the guide rod (25) slides through the fixed suction cup frame (10).

Images