A glass up-down sheet robot

Abstract

The application relates to a glass upper and lower piece robot, and belongs to the technical field of glass conveying equipment. The glass upper and lower piece robot comprises a base and a rotating disc installed on the base. A plurality of moving assemblies are oppositely arranged along the circumference of the rotating disc. An upper feeding hopper with an opening upward is arranged on the lower side of one side of the rotating disc. A receiving table for receiving glass is arranged on the lower side of the side of the rotating disc far from the upper feeding hopper. A rotating assembly for driving the rotating disc to rotate and a lifting assembly for driving the rotating disc to move in the height direction are arranged on the base. The application has the effect of reducing the adverse effect on work efficiency.

Description

Technical Field

[0001] This application relates to the technical field of glass transport equipment, and in particular to a glass loading and unloading robot. Background Technology

[0002] The glass handling and processing involves several production steps, including glass slicing, edging, cleaning, tempering, and central control. During production, manual loading and unloading of glass sheets is often required. To reduce safety concerns associated with manual glass handling, glass loading and unloading equipment is typically used to replace manual labor.

[0003] Chinese Patent CN111923024A discloses a glass-lifting robotic arm, comprising: a first swing arm; a second swing arm, one end of which is hinged to one end of the first swing arm; a first joint, the first joint including a first angle reducer and a first power source, the first angle reducer including a first input shaft, a first output shaft and a first angle reducer body, the first input shaft and the first output shaft forming an angle, the first output shaft driving the second swing arm to rotate relative to the first swing arm; the first power source being driven and connected to the first input shaft. The patent also provides a glass-lifting robot that achieves high torque output by connecting a reducer in series, and the low-power power source is also small in size. Because the first input shaft and the first output shaft are arranged at an angle, the transmission components and power components are avoided from being installed in the same direction, making the structure of the glass-lifting robotic arm more compact.

[0004] When glass loading and unloading robots are used in related technologies to load and unload glass, the robotic arm moves one piece of glass at a time, places the picked-up glass at the destination, and then moves it back to the pick-up point to pick up another piece of glass and move it again. This can easily increase time costs and affect work efficiency. Summary of the Invention

[0005] To reduce the adverse impact on work efficiency, this application provides a glass loading and unloading robot.

[0006] The glass loading and unloading robot provided in this application adopts the following technical solution: A glass loading and unloading robot includes a base and a rotating disk mounted on the base. The rotating disk is provided with a plurality of moving components arranged opposite each other along the circumference of the rotating disk. A feeding hopper with an upward opening is provided on the lower side of one side of the rotating disk. A receiving platform for receiving glass is provided on the lower side of the rotating disk away from the feeding hopper. The base is provided with a rotating component for driving the rotating disk to rotate and a lifting component for driving the rotating disk to move in the height direction.

[0007] By adopting the above technical solution, the rotating component drives the rotating disk to rotate the moving component until one of the moving components corresponds to the glass in the hopper. At this time, the lifting component drives the rotating disk to move the moving component downward and pick up the glass from the hopper. Then, the lifting component drives the rotating disk to raise the moving component and the picked-up glass. The rotating component drives the rotating disk to rotate until the next moving component is directly opposite the hopper, which facilitates the picking up of the glass. When the moving component that picks up the glass rotates to the receiving platform, the lifting component drives the rotating disk to descend and place the glass. At this time, the moving component opposite the placed glass picks up the glass, thus reducing the adverse impact on work efficiency.

[0008] Optionally, the moving component includes a plurality of suction cups inserted into the lower side of the rotating disk and fixedly connected to the rotating disk. The upper ends of the suction cups are all connected to and fixedly connected to an air extraction pipe fixedly connected to the rotating disk, and the upper ends of the air extraction pipes are all provided with air extraction components.

[0009] By adopting the above technical solution, when picking up the glass, the lifting component drives the moving component to descend until the suction cups are in contact with the side wall of the glass. At this time, the air extraction component extracts the air between the suction cups and the glass through the air extraction pipe until the suction cups are attached to the glass. Then, the lifting component drives the rotating disk to lift the suction cups and the glass, and the rotating component drives the rotating disk and the glass to rotate, so that the next moving component can pick up the glass while transporting the picked-up glass to the receiving platform, further reducing the adverse impact on work efficiency.

[0010] Optionally, the suction device includes a suction pipe with one end inserted into the rotating disk and fixedly connected to the rotating disk, and the ends of the corresponding suction pipes away from the suction cup are all connected to and fixedly connected to the same suction pipe, and the suction pipe is provided with a sealing component to seal the suction pipe.

[0011] By adopting the above technical solution, air is extracted from the suction pipe and suction cup through the suction pipe until the suction cup is adsorbed onto the glass. At this time, the suction pipe and the corresponding suction pipe are sealed by the sealing component, thereby improving the stability of the suction cup adsorbed onto the glass, reducing the possibility of air entering the suction pipe and causing the suction cup to separate from the glass, further facilitating the transportation of glass and reducing the adverse impact on work efficiency.

[0012] Optionally, the same movable component has a positioning groove on the rotating disk with the groove facing downward. The upper side wall of the feeding hopper can be inserted into the positioning groove. When the upper side wall of the feeding hopper is inserted into the positioning groove, the suction cups corresponding to the positioning groove all contact the same piece of glass and are adsorbed onto the glass.

[0013] By adopting the above technical solution, when the moving component is aligned with the glass, the lifting component drives the moving component to move downward until the upper side of the feeding hopper is inserted into the positioning groove. At this time, the suction cups are in contact with the side wall of the glass, which makes it easier to observe the movement distance of the rotating disk, reduces the possibility of excessive movement of the rotating disk and damage to the glass, and further improves work efficiency.

[0014] Optionally, the sealing assembly includes a sealing cylinder located in the suction pipe and slidably connected to the suction pipe. A first spring is fixedly connected to the upper end of the sealing cylinder. The end of the first spring away from the sealing cylinder is fixedly connected to the inner wall of the suction pipe. When the first spring is at its original length, the height of the upper end of the sealing cylinder is less than the height of the end of the suction pipe that connects to the suction pipe. The rotating disk is provided with a driving assembly for driving the sealing cylinder to move.

[0015] By adopting the above technical solution, when the suction pipe is used to evacuate the suction pipe and suction cup, the first spring is at its original length and the sealing cylinder does not block the suction pipe. When the suction cup is attached to the side wall of the glass, the driving component drives the sealing cylinder to move upward and block the connection between the suction pipe and the suction pipe. The first spring is compressed, thereby reducing the possibility of external air being forced into the suction pipe, thus maintaining the stability of the suction cup and the glass, facilitating the movement of the glass, and further improving work efficiency.

[0016] Optionally, the driving assembly includes a driving rod located on one side of the lower end of the sealing cylinder and slidably connected to the rotating disk along the diameter direction of the rotating disk. The end of the driving rod near the sealing cylinder is configured as an inclined surface that slopes downward toward the sealing cylinder. The side of the driving rod away from the sealing cylinder is provided with a movable rod perpendicular to the driving rod and slidably connected to the rotating disk. The movable rod is located in the positioning groove, and a second spring fixedly connected to the rotating disk is fixedly connected to the upper end of the movable rod. When the second spring is at its original length, the end of the driving rod away from the sealing cylinder is located at the upper end of the movable rod and is configured as an inclined surface that slopes upward toward the side away from the sealing cylinder. The rotating disk is provided with a fixing assembly for fixing the movable rod.

[0017] By adopting the above technical solution, the suction cup is adsorbed onto the glass sidewall. At this time, the lifting component drives the rotating disk to move downward until the upper end of the feeding hopper is inserted into the positioning groove and pushes the moving rod to move upward. During the movement of the moving rod, the driving rod is squeezed to move closer to the sealing cylinder until the sealing cylinder is lifted by the inclined surface of the end of the driving rod away from the moving rod. At this time, the air extraction pipe is blocked, the first spring and the second spring are compressed, and the moving rod is fixed by the fixing component, which improves the stability of the suction cup adsorption and further improves the processing efficiency.

[0018] Optionally, the fixing component includes a fixing rod that is inserted into and slidably connected to the rotating disk and perpendicular to the drive rod. The moving rod has a fixing groove on its side wall that is adapted to the fixing rod. A third spring is fixedly connected between the fixing rod and the rotating disk. When the upper end of the feeding hopper is inserted into the positioning groove, the fixing groove is directly opposite the fixing rod, and the end of the fixing rod is inserted into the fixing groove. The rotating disk is provided with an unlocking component.

[0019] By adopting the above technical solution, the moving rod drives the sealing cylinder to move upward and seal the suction pipe through the drive rod. At this time, the fixing groove on the moving rod is aligned with the end of the fixing rod, and the end of the fixing rod near the drive rod is inserted into the fixing groove, thereby fixing the sealing cylinder and reducing the possibility of air entering the suction pipe and causing the suction cup to detach from the glass. When the rotating component drives the rotating disk to rotate until the glass to be picked up is directly above the receiving platform, the unlocking component drives the fixing rod to move away from the fixing groove. The first spring and the third spring restore their deformation and pull the sealing cylinder, moving rod and drive rod to reset. At this time, air is forced into the suction pipe under the action of atmospheric pressure, which facilitates the detachment of the suction cup from the glass and places the glass on the receiving platform, further improving work efficiency.

[0020] Optionally, the unlocking component includes a hinge rod with one end hinged to the end of the fixing rod near the third spring. The hinge rod is located in the rotating disk and is slidably connected to the rotating disk. An unlocking rod with an end that can contact the end of the hinge rod is fixedly connected to the upper end of the receiving platform. The upper end of the unlocking rod is configured as an inclined surface that slopes downward toward the side close to the hinge rod.

[0021] By adopting the above technical solution, during the process of the lifting component driving the rotating disk to move downward, the upper end of the unlocking rod is inserted into the rotating disk and pushes the hinge rod to move and rotate towards the fixed rod along the inclined plane. At this time, the other end of the hinge rod pulls the fixed rod to move away from the fixed groove, which makes it easier for the first spring and the third spring to restore their deformation and pull the sealing cylinder to reset, thereby making the suction cup separate from the glass, which makes it easier to place the glass on the receiving platform, thereby improving work efficiency.

[0022] Optionally, the lifting assembly includes a hydraulic cylinder located below the rotating disk and arranged along the height direction of the hopper, the telescopic rod of the hydraulic cylinder facing the rotating disk and fixedly connected to the axis of the rotating disk, and the rotating assembly includes a motor installed at the end of the hydraulic cylinder away from the rotating disk and coaxial with the rotation axis of the rotating disk, and the motor is fixedly connected to the base.

[0023] By adopting the above technical solution, the motor drives the hydraulic cylinder to rotate, thereby driving the rotating disk that is fixedly connected to the hydraulic cylinder to rotate. Furthermore, the position of the rotating disk in the height direction can be adjusted by extending or shortening the telescopic rod of the hydraulic cylinder, which further facilitates driving the suction cup to approach or move away from the glass, thereby improving work efficiency.

[0024] Optionally, the feeding hopper includes a hopper body with an upward opening and a receiving plate located on the hopper body and slidably connected to the side wall of the hopper body. A fourth spring is fixedly connected between the lower side of the receiving plate and the bottom wall inside the hopper body. When the fourth spring is at its original length, the receiving plate is located on the upper side inside the hopper body.

[0025] By adopting the above technical solution, the glass is placed in the hopper body along the height direction of the hopper. At this time, the receiving plate supports the glass, and the fourth spring on the lower side of the receiving plate is compressed. When the glass on the receiving plate is taken out, the weight of the glass in the hopper body decreases, and the fourth spring gradually returns to its original deformation. This ensures that the glass placed along the height direction of the hopper body is always located on the upper side of the hopper body, making it easy to pick up and further improving work efficiency.

[0026] In summary, this application includes at least one of the following beneficial technical effects: 1. The rotating component drives the rotating disk to rotate the moving component until one of the moving components corresponds to the glass in the hopper. At this time, the lifting component drives the rotating disk to move the moving component downward and pick up the glass from the hopper. Then, the lifting component drives the rotating disk to raise the moving component and the picked-up glass. The rotating component drives the rotating disk to rotate until the next moving component is directly opposite the hopper, which facilitates the picking up of the glass. When the moving component that picks up the glass rotates to the receiving platform, the lifting component drives the rotating disk to descend and place the glass. At this time, the moving component opposite the placed glass picks up the glass, which reduces the adverse impact on work efficiency. 2. When air is drawn from the suction pipe and suction cup through the suction pipe, the first spring is at its original length and the sealing cylinder does not block the suction pipe. When the suction cup is attached to the side wall of the glass, the drive assembly drives the sealing cylinder to move upward and block the connection between the suction pipe and the suction pipe. The first spring is compressed, thereby reducing the possibility of external air being forced into the suction pipe, thus maintaining the stability of the suction cup and the glass, facilitating the movement of the glass, and further improving work efficiency. 3. During the downward movement of the rotating disk driven by the lifting assembly, the upper end of the unlocking rod is inserted into the rotating disk and pushes the hinge rod along the inclined plane to move closer to the fixed rod and rotate. At this time, the other end of the hinge rod pulls the fixed rod to move away from the fixed groove, which makes it easier for the first spring and the third spring to restore their deformation and pull the sealing cylinder to reset, thereby making the suction cup separate from the glass, making it easier to place the glass on the receiving platform, thus improving work efficiency. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of the glass loading and unloading robot in the embodiments of this application.

[0028] Figure 2 This is a structural diagram illustrating the positional relationship between the hopper and the base in an embodiment of this application.

[0029] Figure 3 This is a structural diagram illustrating the positional relationship between the movable plate and the extraction pipe in an embodiment of this application.

[0030] Figure 4 yes Figure 2 Enlarged view of the structure at point A in the middle.

[0031] Figure 5 yes Figure 2 Enlarged view of the structure at point B.

[0032] Figure 6 This is a structural schematic diagram illustrating the positional relationship between the hinge rod and the receiving platform in an embodiment of this application.

[0033] Figure 7 yes Figure 6 Enlarged view of the structure at point C.

[0034] Explanation of reference numerals in the attached drawings: 1. Base; 11. Rotating disc; 12. Feeding hopper; 121. Hopper body; 122. Receiving plate; 123. Fourth spring; 13. Positioning rod; 14. Limiting element; 141. Sliding plate; 1411. Mating groove; 142. Meshing gear; 15. Receiving platform; 2. Lifting assembly; 21. Hydraulic cylinder; 22. Fixed cylinder; 3. Rotating assembly; 31. First gear; 32. Second gear; 33. Motor; 4. Moving assembly; 41. Moving plate; 411. Fixed... 412, Slot; 413, Cavity; 414, Through Hole; 42, Suction Cup; 43, Suction Pipe; 44, Suction Component; 441, Suction Pipe; 442, Suction Pump; 5, Sealing Assembly; 51, Sealing Cylinder; 52, First Spring; 6, Drive Assembly; 61, Moving Rod; 611, Fixing Slot; 62, Second Spring; 63, Drive Rod; 7, Fixing Assembly; 71, Fixing Rod; 72, Third Spring; 73, Unlocking Component; 731, Unlocking Rod; 732, Hinge Rod. Detailed Implementation

[0035] The present application will be further described in detail below with reference to the accompanying drawings.

[0036] This application discloses a glass loading and unloading robot. (Refer to...) Figure 1 and Figure 2A glass-lifting robot includes a base 1, with a horizontal rotating disk 11 on its upper side. The base 1 also includes a lifting assembly 2 for driving the rotating disk 11 to move vertically and a rotating assembly 3 for driving the rotating disk 11 to rotate. The lifting assembly 2 includes a vertical hydraulic cylinder 21 whose rotation axis coincides with that of the rotating disk 11. The extension rod of the hydraulic cylinder 21 faces the rotating disk 11 and is fixedly connected to the axis on the lower side of the rotating disk 11. A fixed cylinder 22 is sleeved and fixedly connected to the outside of the hydraulic cylinder 21, and the lower end of the fixed cylinder 22 is rotatably connected to the base 1.

[0037] Reference Figure 2 The rotating assembly 3 includes a horizontal first gear 31 sleeved on the outside of the fixed cylinder 22 and fixedly connected to the fixed cylinder 22. A second gear 32, which is horizontally balanced and rotatably connected to the base 1, is meshed on one side of the first gear 31. A motor 33, which is vertically inserted into and fixedly connected to the base 1 and installed at the axis below the second gear 32, is also fixedly connected to the base 1.

[0038] Reference Figure 1 and Figure 2 The rotating disk 11 is equipped with multiple moving components 4 for picking up glass. These moving components 4 are evenly distributed and relatively arranged along the rotation axis of the rotating disk 11; in this embodiment, four are provided. A feeding hopper 12 is located on the lower side of the rotating disk 11, away from the second gear 32. The feeding hopper 12 includes a vertical hopper body 121 with an upward opening. A horizontal receiving plate 122 is slidably connected to the hopper body 121. Glass is placed on the receiving plate 122 along the height direction of the hopper body 121. Two vertical fourth springs 123 are fixedly connected to the lower side of the receiving plate 122 and the bottom wall inside the hopper body 121. When the glass is placed on the receiving plate 122, the fourth springs 123 are compressed, and a limiting member 14 is provided in the hopper body 121 to fix the position of the receiving plate 122. A receiving platform 15 is located on the lower side of the rotating disk 11, away from the feeding hopper 12, and is arranged opposite to the feeding hopper 12 for receiving glass.

[0039] Reference Figure 2 The limiting member 14 includes vertical sliding plates 141 that are oppositely arranged and slidably connected to both sides of the bucket body 121 along its length. A fifth spring (not shown in the figure) is fixedly connected to the opposite ends of each sliding plate 141, and the opposite ends of each fifth spring are fixedly connected to the side wall of the bucket body 121. Engaging teeth 142 are fixedly connected to both sides of the receiving plate 122 corresponding to the sliding plates 141. The opposite ends of the engaging teeth 142 are all inclined surfaces that slope upwards and towards each other. Multiple mating grooves 1411 that engage with the engaging teeth 142 are provided on the opposite side of each sliding plate 141.

[0040] When the fourth spring 123 recovers its deformation and pushes the receiving plate 122 to move the glass upward, the inclined surface of the meshing tooth 142 pushes the sliding plate 141 to slide away from each other. At this time, the fifth spring is compressed until the meshing tooth 142 moves into the next mating groove 1411 on the sliding plate 141. Then, the fifth spring recovers its deformation and pushes the sliding plate 141 to move closer to each other. The lower side of the meshing tooth 142 abuts against the side wall of the sliding plate 141.

[0041] The motor 33 drives the rotating disk 11 to rotate by rotating the fixed cylinder 22 and the hydraulic cylinder 21 through the first gear 31 and the second gear 32, until one of the moving components 4 corresponds to the glass in the feeding hopper 12. At this time, the hydraulic cylinder 21 drives the rotating disk 11 to move the moving component 4 downward and pick up the glass in the feeding hopper 12. At this time, the hydraulic cylinder 21 drives the rotating disk 11 to move the moving component 4 and the picked-up glass upward. The rotating disk 11 is driven to rotate by the motor 33, the first gear 31, the second gear 32, the fixed cylinder 22 and the hydraulic cylinder 21 until the next moving component 4 is directly opposite the feeding hopper 12, so as to facilitate the picking up of the glass. When the moving component 4 that picks up the glass rotates to the receiving platform 15, the hydraulic cylinder 21 drives the rotating disk 11 to descend and place the glass. At this time, the moving component 4 opposite to the placed glass picks up the glass, which facilitates the transportation of the glass.

[0042] The glass is placed in the hopper body 121 along the height direction of the feeding hopper 12. At this time, the receiving plate 122 supports the glass, and the fourth spring 123 on the lower side of the receiving plate 122 is compressed. When the glass on the receiving plate 122 is taken off, the weight of the glass in the hopper body 121 decreases, the fourth spring 123 gradually recovers its deformation and pushes the receiving plate 122 to move the glass upward, thereby making it easier to take off the glass.

[0043] Reference Figure 2 and Figure 3 The moving component 4 includes a moving plate 41 that is inserted into and fixedly connected to the rotating disk 11. Multiple vertically arranged suction cups 42 are inserted into and fixedly connected to the lower side of the moving plate 41. In this embodiment, four suction cups are evenly distributed along the four corners of the moving plate 41. One end of each suction cup 42 inserted into the moving plate 41 is fixedly connected to a suction pipe 43, which is also fixedly connected to the moving plate 41. The end of the suction pipe 43 away from the suction cup 42 is horizontal, and the moving plate 41 is provided with an air extraction component 44 that simultaneously extracts air from the four corresponding suction pipes 43.

[0044] Reference Figure 2 and Figure 3The suction component 44 includes a suction pipe 441 whose lower end is inserted into the middle of the upper end of the movable plate 41 and is connected to the corresponding suction pipe 43. A suction pump 442 for extracting gas is installed at the upper end of the suction pipe 441, and the upper end of the suction pipe 441 passes through the suction pump 442 (not shown in the figure). A sealing component 5 for sealing the corresponding suction pipe 43 is provided in the suction pipe 441.

[0045] When the glass is picked up, the hydraulic cylinder 21 drives the rotating disk 11 to descend until the suction cup 42 is in contact with the side wall of the glass. At this time, the air pump 442 draws out the air between the suction cup 42 and the glass through the suction pipe 441 and the extraction pipe 43 until the suction cup 42 is attached to the glass. Then, the sealing component 5 seals the suction pipe 441 and the corresponding extraction pipe 43 to improve the stability of the suction cup 42 attached to the glass and reduce the possibility of air entering the extraction pipe 43 and causing the suction cup 42 to separate from the glass. At this time, the hydraulic cylinder 21 drives the rotating disk 11 to lift the suction cup 42 and the glass, and the motor 33 drives the rotating disk 11 and the glass to rotate, so that the next moving component 4 can pick up the glass and transport the picked-up glass to the receiving platform 15 at the same time, thus improving work efficiency.

[0046] Reference Figure 2 and Figure 4 The lower end of the suction pipe 441 is lower than the upper inner side of the suction pipe 43. The sealing assembly 5 includes a sealing cylinder 51 located at the lower end of the suction pipe 441 and slidably connected to the inner wall of the suction pipe 441. A vertical first spring 52 is fixedly connected to the upper side of the sealing cylinder 51, and the upper end of the first spring 52 is fixedly connected to the inner wall of the suction pipe 441. When the first spring 52 is at its original length, the upper end of the sealing cylinder 51 is lower than the upper inner side of the suction pipe 43. The moving plate 41 is provided with a driving assembly 6 for driving the sealing cylinder 51 to move.

[0047] Reference Figure 2 and Figure 5 The movable plate 41 has two downward-facing positioning slots 411. Vertical positioning rods 13, adapted to the positioning slots 411, are fixedly connected to both sides of the upper end of the bucket body 121. The drive assembly 6 includes a vertical moving rod 61 adapted to the positioning slots 411, with one end inserted into the positioning slot 411 and slidably connected to the movable plate 41. A vertical second spring 62 is provided in the positioning slot 411, with one end fixedly connected to the movable plate 41. The other end of each second spring 62 is fixedly connected to the upper end of the corresponding moving rod 61.

[0048] Each movable rod 61 has a horizontal drive rod 63 at its upper end, which is slidably connected to the movable plate 41. The ends of the drive rods 63 closest to the corresponding movable rods 61 are all set as inclined surfaces that are inclined upwards and away from each other. When the second spring 62 is at its original length, the ends of the drive rods 63 that are far from each other are located on the upper side of the movable rods 61, and the inclined surfaces of the movable rods 61 and the ends of the drive rods 63 are in contact. The inclined surfaces of the ends of the drive rods 63 that are close to each other can drive the sealing cylinder 51 to move. Each movable plate 41 is provided with a fixing assembly 7 for fixing the movable rods 61.

[0049] When the moving plate 41 is aligned with the glass, the first spring 52 is at its original length when the suction pipe 43 and suction cup 42 are evacuated through the suction pipe 441. The sealing cylinder 51 does not block the suction pipe 43. When the suction cup 42 is attached to the side wall of the glass, the hydraulic cylinder 21 drives the rotating disk 11 to move downward until the positioning rod 13 is inserted into the positioning groove 411 and pushes the moving rod 61 to move upward. During the movement of the moving rod 61, the driving rod 63 is squeezed and moved closer to the sealing cylinder 51 until the sealing cylinder 51 is lifted by the inclined surface of the driving rod 63 away from the moving rod 61. At this time, the suction pipe 43 is blocked, the first spring 52 and the second spring 62 are compressed, and the moving rod 61 is fixed by the fixing component 7, thus completing the glass removal.

[0050] Reference Figure 2 , Figure 5 and Figure 6 The fixing assembly 7 includes two horizontal fixing rods 71 ​​located on opposite sides of the moving rod 61. The moving plate 41 has a moving groove 412 that adapts to the fixing rods 71 ​​and communicates with the positioning groove 411. The fixing rods 71 ​​are inserted into their corresponding moving grooves 412 and slidably connected to the moving plate 41. (Refer to...) Figure 6 and Figure 7 Each of the fixed rods 71 ​​has a third spring 72 fixedly connected to its opposite ends. The opposite ends of the third springs 72 are also fixedly connected to the side wall of the moving plate 41. Each of the moving rods 61 has a fixing groove 611 that is compatible with the fixed rod 71. When the sealing cylinder 51 blocks the air extraction pipe 43, the opposite ends of the fixed rods 71 ​​are inserted into the corresponding fixing grooves 611. The receiving platform 15 is provided with an unlocking component 73 that drives the fixed rod 71 to disengage from the fixing groove 611.

[0051] The moving rod 61 drives the sealing cylinder 51 to move upward and block the suction pipe 43 via the driving rod 63. At this time, the fixing groove 611 on the moving rod 61 is directly opposite the end of the fixing rod 71. The third spring 72 pushes the end of the fixing rod 71 near the driving rod 63 to insert into the fixing groove 611, thereby fixing the sealing cylinder 51. When the glass is rotated to the top of the receiving platform 15, the unlocking member 73 drives the fixing rod 71 to move away from the fixing groove 611. The first spring 52 and the third spring 72 restore their deformation and pull the sealing cylinder 51, the moving rod 61 and the driving rod 63 back to their original positions. At this time, air is forced into the suction pipe 441 and the suction pipe 43 under atmospheric pressure, which makes it easier for the suction cup 42 to detach from the glass and place the glass on the receiving platform 15.

[0052] Reference Figure 6 and Figure 7 The unlocking component 73 includes a vertical unlocking rod 731 fixedly connected to one side of the upper end of the receiving platform 15. Two fixed rods 71 ​​on the same moving plate 41 are hinged to the same side with hinge rods 732. The moving plate 41 has a cavity 413 that adapts to the movement trajectory of the hinge rods 732 and communicates with both the moving groove 412 and the positioning groove 411. The hinge rods 732 are located in the cavity 413, and the ends of the hinge rods 732 away from the corresponding fixed rods 71 ​​are hinged to each other. A through hole 414 is provided on the lower side of the moving plate 41, communicating with the cavity 413 and adapting to the unlocking rod 731. The upper end of the unlocking rod 731 can be inserted into the cavity 413 through the through hole 414 and contact the side of the hinge rod 732 that is hinged to it. The upper end of the unlocking rod 731 is configured as a downwardly inclined surface sloping towards the side closer to the hinge rod 732.

[0053] As the hydraulic cylinder 21 drives the rotating disk 11 to move downward, the upper end of the unlocking rod 731 pushes the hinge rod 732 to move and rotate closer to the fixed rod 71 through the through hole 414 and along the inclined plane. At this time, the other end of the hinge rod 732 pulls the fixed rod 71 to move away from the fixed groove 611, so that the first spring 52 and the third spring 72 can recover their deformation and pull the sealing cylinder 51 to reset, thereby making the suction cup 42 separate from the glass, so that the glass can be placed on the receiving platform 15.

[0054] The implementation principle of a glass loading and unloading robot according to an embodiment of this application is as follows: Motor 33 drives the rotating disk 11 to rotate the moving component 4 until one of the moving components 4 corresponds to the glass in the loading hopper 12. At this time, hydraulic cylinder 21 drives suction cup 42 to move downward and adhere to the glass, thereby picking up the glass in the loading hopper 12. At this time, hydraulic cylinder 21 drives the rotating disk 11 to lift the picked-up glass. Through motor 33, first gear 31, second gear 32, fixed cylinder 22 and hydraulic cylinder 21, the rotating disk 11 is driven to rotate until the next moving component 4 is directly opposite the loading hopper 12, thereby facilitating the picking up of the glass. When the picked-up glass rotates to the receiving platform 15, hydraulic cylinder 21 drives the rotating disk 11 to descend and place the glass. At this time, the moving component 4 opposite to the placed glass picks up the glass, which facilitates the transportation of the glass.

[0055] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A glass loading and unloading robot, characterized in that: Includes a base (1) and a rotating disk (11) mounted on the base (1). The rotating disk (11) is provided with a plurality of moving components (4) arranged opposite to each other around the rotating disk (11). A feeding hopper (12) with an upward opening is provided on the lower side of one side of the rotating disk (11). A receiving platform (15) for receiving glass is provided on the lower side of the rotating disk (11) away from the feeding hopper (12). The base (1) is provided with a rotating component (3) for driving the rotating disk (11) to rotate and a lifting component (2) for driving the rotating disk (11) to move in the height direction. The moving component (4) includes a plurality of suction cups (42) inserted into the lower side of the rotating disk (11) and fixedly connected to the rotating disk (11). The upper ends of the suction cups (42) are all connected to and fixedly connected to the air extraction pipes (43) fixedly connected to the rotating disk (11). The upper ends of the air extraction pipes (43) are all provided with air extraction components (44). The suction device (44) includes a suction pipe (441) with one end inserted into the rotating disk (11) and fixedly connected to the rotating disk (11). The ends of the corresponding suction pipes (43) away from the suction cup (42) are all connected to and fixedly connected to the same suction pipe (441). The suction pipe (441) is provided with a sealing component (5) to block the suction pipe (43). The same moving component (4) has a same positioning groove (411) on the rotating disk (11) with the groove facing downward. The upper side wall of the feeding hopper (12) can be inserted into the positioning groove (411). When the upper side wall of the feeding hopper (12) is inserted into the positioning groove (411), the suction cups (42) corresponding to the positioning groove (411) all contact the same piece of glass and are adsorbed on the glass. The sealing assembly (5) includes a sealing cylinder (51) located in the suction pipe (441) and slidably connected to the suction pipe (441). A first spring (52) is fixedly connected to the upper end of the sealing cylinder (51). The end of the first spring (52) away from the sealing cylinder (51) is fixedly connected to the inner wall of the suction pipe (441). When the first spring (52) is at its original length, the height of the upper end of the sealing cylinder (51) is less than the height of the end of the suction pipe (43) connected to the suction pipe (441). The rotating disk (11) is provided with a driving assembly (6) for driving the sealing cylinder (51) to move. The drive assembly (6) includes a drive rod (63) located on one side of the lower end of the sealing cylinder (51) and slidably connected to the rotating disk (11) along the diameter direction of the rotating disk (11). The end of the drive rod (63) near the sealing cylinder (51) is configured as an inclined surface that slopes downward toward the side near the sealing cylinder (51). The side of the drive rod (63) away from the sealing cylinder (51) is provided with a moving rod (61) perpendicular to the drive rod (63) and slidably connected to the rotating disk (11). The moving rod (61) is located in the positioning groove (411), and the upper end of the moving rod (61) is fixedly connected to a second spring (62) which is fixedly connected to the rotating disk (11). When the second spring (62) is at its original length, the end of the driving rod (63) away from the sealing cylinder (51) is located at the upper end of the moving rod (61) and is set as an inclined surface that is inclined upward towards the side away from the sealing cylinder (51). The rotating disk (11) is provided with a fixing assembly (7) for fixing the moving rod (61).

2. The glass loading and unloading robot according to claim 1, characterized in that: The fixing component (7) includes a fixing rod (71) that is inserted into and slidably connected to the rotating disk (11) and perpendicular to the drive rod (63). The moving rod (61) has a fixing groove (611) adapted to the fixing rod (71) on its side wall. A third spring (72) is fixedly connected between the fixing rod (71) and the rotating disk (11). When the upper end of the feeding hopper (12) is inserted into the positioning groove (411), the fixing groove (611) is directly opposite the fixing rod (71), and the end of the fixing rod (71) is inserted into the fixing groove (611). The rotating disk (11) is provided with an unlocking component (73).

3. The glass loading and unloading robot according to claim 2, characterized in that: The unlocking component (73) includes a hinge rod (732) with one end hinged to the fixed rod (71) near the third spring (72). The hinge rod (732) is located in the rotating disk (11) and is slidably connected to the rotating disk (11). The upper end of the receiving platform (15) is fixedly connected to an unlocking rod (731) whose end can contact the end of the hinge rod (732). The upper end of the unlocking rod (731) is configured as an inclined surface that slopes downward toward the side close to the hinge rod (732).

4. A glass loading and unloading robot according to claim 1, characterized in that: The lifting assembly (2) includes a hydraulic cylinder (21) located on the lower side of the rotating disk (11) and arranged along the height direction of the hopper (12). The telescopic rod of the hydraulic cylinder (21) faces the rotating disk (11) and is fixedly connected to the axis of the rotating disk (11). The rotating assembly (3) includes a motor (33) installed at one end of the hydraulic cylinder (21) away from the rotating disk (11) and coaxial with the rotation axis of the rotating disk (11). The motor (33) is fixedly connected to the base (1).

5. A glass loading and unloading robot according to claim 1, characterized in that: The feeding hopper (12) includes a hopper body (121) with the opening facing upward and a receiving plate (122) located on the hopper body (121) and slidably connected to the side wall of the hopper body (121). A fourth spring (123) is fixedly connected between the lower side of the receiving plate (122) and the bottom wall inside the hopper body (121). When the fourth spring (123) is at its original length, the receiving plate (122) is located on the upper side inside the hopper body (121).

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