Glass edge detection equipment

Abstract

The invention relates to the technical field of glass edge detection, and discloses glass edge detection equipment which comprises a rack assembly. A material receiving CV assembly, a short edge Stage assembly, a feeding mechanical arm assembly, a long edge Stage assembly, a transfer mechanical arm assembly, a discharging carrying X-axis assembly, a Z-axis lifting transfer carrying assembly, a discharging carrying Y-axis assembly and a movable fishing claw material receiving assembly are arranged on the rack assembly, and the material receiving CV assembly receives glass conveyed by upstream feeding equipment; the short-edge Stage assembly comprises a short-edge X-axis module and a short-edge camera mounting frame, the material receiving CV assembly and the long-edge Stage assembly are both located on one side of the short-edge X-axis module, a short-edge bottom plate is arranged on the short-edge X-axis module, a suction cup Y-axis module is arranged on the short-edge bottom plate, and a short-edge suction cup assembly is arranged on the suction cup Y-axis module; according to the glass edge detection equipment provided by the invention, the problem that the existing glass edge detection efficiency is relatively low is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of glass edge detection, and in particular to a glass edge detection device. Background Art

[0002] At present, in some glass production fields, assembly line production is becoming more and more widespread, but the detection is cumbersome and the labor cost is high. How to improve the detection efficiency is what the relevant personnel have been pursuing. The efficiency of glass edge detection has a vital impact on the improvement of glass production efficiency. Summary of the invention

[0003] An object of the present invention is to provide a glass edge detection device to solve at least one of the above problems existing in the prior art.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions: A glass edge detection device comprises a frame assembly, on which a material receiving CV assembly, a short side Stage assembly, a material loading manipulator assembly, a long side Stage assembly, a transfer manipulator assembly, a material unloading and conveying X-axis assembly, a Z-axis lifting and transfer conveying assembly, a material unloading and conveying Y-axis assembly and a mobile claw material receiving assembly are arranged. The material receiving CV assembly receives the glass transmitted by the upstream feeding equipment, the short side Stage assembly comprises a short side X-axis module and a short side camera mounting frame, and the material receiving CV assembly and the long side Stage assembly are both located On one side of the short side X-axis module, the short side X-axis module is provided with a short side bottom plate, the short side bottom plate is provided with a suction cup Y-axis module, the suction cup Y-axis module is provided with a short side suction cup assembly, and the loading robot assembly transfers the glass on the receiving CV assembly to the short side suction cup assembly; the short side X-axis module passes through the short side camera mounting frame, the two sides of the short side camera mounting frame are respectively provided with short side inspection camera assemblies, the top of the short side camera mounting frame is provided with a short side camera Y-axis module, and the short side camera Y-axis module is provided with a short side line scanning camera assembly; The long side Stage assembly includes a long side Y-axis module and a long side camera mounting frame, the long side Y-axis module is provided with a long side bottom plate, the long side bottom plate is provided with a suction cup X-axis module, the suction cup X-axis module is provided with a long side suction cup assembly, the transfer manipulator assembly transfers the glass on the short side suction cup assembly to the long side suction cup assembly, the long side Y-axis module passes through the long side camera mounting frame, and long side inspection camera assemblies are respectively provided on both sides of the long side camera mounting frame; The mobile claw material receiving assembly and the Z-axis lifting and transferring assembly are arranged side by side along the Y direction, the material unloading and transferring X-axis assembly transfers the glass on the long side suction cup assembly to the Z-axis lifting and transferring assembly, the Z-axis lifting and transferring assembly drives the glass to rise to the feeding height, and then the material unloading and transferring Y-axis assembly transfers the glass on the Z-axis lifting and transferring assembly to the upper transferring assembly or the lower transferring assembly of the mobile claw material receiving assembly.

[0005] In this technical solution, the upstream feeding equipment transfers the glass to the receiving CV component, the loading robot component transfers the glass from the receiving CV component to the short side Stage component, and then the short side X-axis module drives the glass to a position close to the transfer robot component. Since the short side X-axis module passes through the short side camera mounting frame, short side inspection camera components are respectively arranged on both sides of the short side camera mounting frame, and the short side camera Y-axis module is arranged on the top of the short side camera mounting frame. The short side camera Y-axis module is provided with a short side line scanning camera component, so that in the process of the glass moving along the short side X-axis module, the short side inspection camera components on both sides can detect the edges of both sides of the glass, and the short side line scanning camera component can move along the short side camera Y-axis module and detect the surface of the glass in the process of the glass moving along the short side X-axis module until the detection of the glass surface and the edges on both sides is completed, and the glass moves to a position close to the long side Sta ge component; then the transfer robot component takes the glass and places it on the long side Stage component, and then the long side Y-axis module drives the glass to a position close to the unloading and handling X-axis component. Since the long side Y-axis module passes through the long side camera mounting frame, long side edge inspection camera components are respectively provided on both sides of the long side camera mounting frame. The long side edge inspection camera components on both sides realize the detection of the other two sides of the glass. Until the detection of the other two sides of the glass is completed, the glass moves to a position close to the unloading and handling X-axis component, and the unloading and handling X-axis component takes the material and places the glass on the Z-axis lifting and transfer handling component. The Z-axis lifting and transfer handling component moves upward to send the glass to the feeding height, and the unloading and handling Y-axis component then transfers the glass on the Z-axis lifting and transfer handling component to the upper handling component or the lower handling component of the mobile claw receiving component, and then transmits it to the lower stage equipment through the mobile claw receiving component.

[0006] In summary, in this technical solution, the material receiving CV component and the long side Stage component are both located on one side of the short side X-axis module. While improving the compactness of the structure of the material receiving CV component, the short side Stage component and the long side Stage component, it is also convenient to realize the setting of the loading robot component and the transfer robot component, so that the glass can be moved along the X direction and the Y direction, and the edge and surface of the glass can be detected during the movement. The whole structure is compactly designed, the operation efficiency is higher, and the glass detection efficiency is improved. The setting of the material unloading and handling X-axis component, the Z-axis lifting and transfer handling component, and the material unloading and handling Y-axis component can facilitate the efficient transfer of the inspected glass to the mobile claw material receiving component. The upper handling component and the lower handling component are respectively used to transfer the inspected glass, which can increase the material unloading speed, thereby improving the detection output efficiency of the entire equipment.

[0007] Furthermore, the material receiving CV component includes a loading transmission component, a clamping component and a blocking component. The clamping component clamps the glass from both sides of the loading transmission component, and the blocking component is arranged on one end of the loading transmission component away from the loading end.

[0008] The clamping assembly is used to clamp the glass transmitted by the upstream feeding device to prevent the glass from tilting and collision, and to achieve alignment. The blocking assembly is used to prevent the glass from sliding out from the upstream feeding device to the front of the receiving CV assembly.

[0009] Furthermore, in order to facilitate the driving of multiple clamping limit columns, the clamping assembly includes a clamping Y-axis module and a plurality of clamping limit columns, and the plurality of clamping limit columns are respectively located on both sides of the feeding transmission assembly, and the bottoms of the multiple clamping limit columns on the same side are connected with a connecting plate, and the clamping Y-axis module is used to drive the connecting plate to move.

[0010] Furthermore, in order to simultaneously drive multiple conveying shafts, the loading transmission assembly includes a bracket installed on the frame assembly, and a plurality of conveying shafts are provided on the bracket at equal intervals along the Y direction. One end of the conveying shaft is driven to rotate by a motor, and the other end of the conveying shaft is rotatably connected to the bracket through a bearing.

[0011] The material receiving CV assembly includes a position sensor, which detects whether the glass is delivered to the right position. After the glass is delivered to the right position, the motor stops driving the conveying shaft, and the clamping assembly drives the clamping limit columns on both sides to clamp toward the middle under the drive of the motor to position the glass. After the glass is positioned, the loading robot assembly can achieve precise grasping.

[0012] Furthermore, in order to better realize the conveying of glass, a plurality of rubber rollers are provided on the conveying shaft at intervals along the length direction of the conveying shaft.

[0013] Furthermore, in order to better realize the grasping of glass, the loading robot assembly, the transfer robot assembly and the unloading and handling Y-axis assembly all include a door-type bracket, the door-type bracket is provided with a Y-axis module, the Y-axis module is provided with a Z-axis module, the Z-axis module is provided with an L-shaped bracket, and the lower end of the L-shaped bracket is provided with a suction cup assembly.

[0014] Furthermore, in order to better realize the transfer of glass between the long-side Stage assembly and the Z-axis lifting and transfer handling assembly, the unloading and handling X-axis assembly includes an unloading bracket, on which is provided an unloading X-axis module, on which is provided an unloading Z-axis module, on which is provided an unloading L-shaped bracket, and at the lower end of which is provided an unloading suction cup assembly.

[0015] Furthermore, in order to better realize the loading and unloading of glass in the lifting state, so as to better connect the material receiving and feeding between the unloading and conveying X-axis assembly and the unloading and conveying Y-axis assembly, the Z-axis lifting and transfer conveying assembly includes a lifting and conveying module symmetrically arranged on the frame assembly, and a lifting and conveying bracket is provided between the two lifting and conveying modules, and an adsorption PIN assembly is provided on the lifting and conveying bracket.

[0016] Furthermore, in order to better achieve the double-layer conveying effect in the same direction, the upper conveying assembly and the lower conveying assembly both include a Y-axis conveying module, the Y-axis conveying module is provided with a conveying base plate, the conveying base plate is provided with a conveying suction cup assembly, the Y-axis conveying module of the upper conveying assembly is provided with a support frame, the conveying base plate of the upper conveying assembly is installed on the support frame, and the conveying base plate of the upper conveying assembly is higher than the conveying base plate of the lower conveying assembly.

[0017] Furthermore, in order to better achieve stable installation of each component and improve the practical reliability of the equipment, the frame assembly includes a first frame and a second frame, the height of the first frame is lower than the height of the second frame, the material receiving CV assembly, short side Stage assembly, long side Stage assembly, loading robot assembly and transfer robot assembly are all arranged on the first frame, the Z-axis lifting and transfer handling assembly, unloading and handling Y-axis assembly and mobile claw material receiving assembly are all arranged on the second frame, the unloading and handling X-axis assembly is arranged between the first frame and the second frame, and an aluminum profile cover assembly is provided on the outside of the frame assembly, and a human-machine control panel and an EFU fan filter unit are provided on the aluminum profile cover assembly.

[0018] The beneficial effects of the present invention are as follows: In the technical solution, the upstream feeding equipment transfers the glass to the material receiving CV component, the loading robot component transfers the glass from the material receiving CV component to the short side Stage component, and then the short side X-axis module drives the glass to a position close to the transfer robot component. Since the short side X-axis module passes through the short side camera mounting frame, short side inspection camera components are respectively arranged on both sides of the short side camera mounting frame, and a short side camera Y-axis module is arranged on the top of the short side camera mounting frame. A short side line scanning camera component is arranged on the short side camera Y-axis module, so that in the process of the glass moving along the short side X-axis module, the short side inspection camera components on both sides can detect the edges of both sides of the glass, and the short side line scanning camera component can move along the short side camera Y-axis module and detect the surface of the glass in the process of the glass moving along the short side X-axis module until the detection of the glass surface and the edges on both sides is completed, and the glass moves to a position close to The position of the long side Stage component; then the transfer robot component takes the glass and places it on the long side Stage component, and then the long side Y-axis module drives the glass to a position close to the unloading and handling X-axis component. Since the long side Y-axis module passes through the long side camera mounting frame, long side inspection camera components are respectively provided on both sides of the long side camera mounting frame. The long side inspection camera components on both sides realize the detection of the other two side edges of the glass until the detection of the other two side edges of the glass is completed, and the glass moves to a position close to the unloading and handling X-axis component. After the unloading and handling X-axis component takes the material, it places the glass on the Z-axis lifting and transfer handling component. The Z-axis lifting and transfer handling component moves upward to send the glass to the feeding height, and the unloading and handling Y-axis component then transfers the glass on the Z-axis lifting and transfer handling component to the upper handling component or the lower handling component of the mobile claw receiving component, and then transmits it to the lower stage equipment through the mobile claw receiving component.

[0019] In summary, in this technical solution, the material receiving CV component and the long side Stage component are both located on one side of the short side X-axis module. While improving the compactness of the structure of the material receiving CV component, the short side Stage component and the long side Stage component, it is also convenient to realize the setting of the loading robot component and the transfer robot component, so that the glass can be moved along the X direction and the Y direction, and the edge and surface of the glass can be detected during the movement. The whole structure is compactly designed, the operation efficiency is higher, and the glass detection efficiency is improved. The setting of the material unloading and handling X-axis component, the Z-axis lifting and transfer handling component, and the material unloading and handling Y-axis component can facilitate the efficient transfer of the inspected glass to the mobile claw material receiving component. The upper handling component and the lower handling component are respectively used to transfer the inspected glass, which can increase the material unloading speed, thereby improving the detection output efficiency of the entire equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2It is a schematic diagram of the top view structure of the present invention; Figure 3 It is a structural schematic diagram of the material connection CV assembly in the present invention; Figure 4 It is a structural schematic diagram of the feeding robot assembly in the present invention; Figure 5 It is a schematic diagram of the structure of the short side Stage component in the present invention; Figure 6 It is a structural schematic diagram of the long side Stage component in the present invention; Figure 7 It is a structural schematic diagram of the Z-axis lifting, transfer and handling assembly in the present invention; Figure 8 It is a structural schematic diagram of the movable claw material receiving assembly in the present invention; Fig. 9 It is a structural schematic diagram of the rack assembly in the present invention; Fig.10 It is a structural schematic diagram of the overall appearance of the present invention.

[0021] In the figure: rack assembly 1; first rack 1.1; second rack 1.2; material receiving CV assembly 2; short side stage assembly 3; material loading robot assembly 4; long side stage assembly 5; transfer robot assembly 6; material unloading and handling X-axis assembly 7; Z-axis lifting and transfer handling assembly 8; material unloading and handling Y-axis assembly 9; mobile claw material receiving assembly 10; short side X-axis module 11; short side camera mounting frame 12; short side bottom plate 13; suction cup Y-axis module 14; short side suction cup assembly 15; short side edge inspection camera assembly 16; short side camera Y-axis module 17; short side line scanning camera assembly 18; long side Y-axis module 19; long side camera mounting frame 20; long side bottom plate 21; suction cup X-axis module 22; long side suction Disc assembly 23; long side inspection camera assembly 24; upper layer transport assembly 25; lower layer transport assembly 26; blocking assembly 27; clamping Y-axis module 28; clamping limit column 29; transmission shaft 30; rubber roller 31; door-type bracket 32; Y-axis module 33; Z-axis module 34; L-shaped bracket 35; suction cup assembly 36; unloading bracket 37; unloading X-axis module 38; unloading Z-axis module 39; unloading suction cup assembly 40; lifting and transporting bracket 41; lifting and transporting module 42; adsorption PIN assembly 43; Y-axis transport module 44; transport base plate 45; transport suction cup assembly 46; support frame 47; aluminum profile cover assembly 48; human-machine control panel 49; EFU fan filter unit 50. DETAILED DESCRIPTION

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be briefly introduced below in combination with the drawings and the description of the embodiments or the prior art. Obviously, the following description of the structure of the drawings is only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention.

[0023] Embodiment 1: like Figure 1-Figure 10 As shown, this embodiment provides a glass edge detection device, including a frame assembly 1, on which are provided a material receiving CV assembly 2, a short side Stage assembly 3, a material loading manipulator assembly 4, a long side Stage assembly 5, a transfer manipulator assembly 6, a material unloading and conveying X-axis assembly 7, a Z-axis lifting and transfer conveying assembly 8, a material unloading and conveying Y-axis assembly 9 and a mobile claw material receiving assembly 10. The material receiving CV assembly 2 receives the glass transmitted by the upstream feeding device, the short side Stage assembly 3 includes a short side X-axis module 11 and a short side camera mounting frame 12, and the material receiving CV assembly 2 and the long side Stage assembly 5 are both Located on one side of the short-side X-axis module 11, the short-side X-axis module 11 is provided with a short-side bottom plate 13, the short-side bottom plate 13 is provided with a suction cup Y-axis module 14, the suction cup Y-axis module 14 is provided with a short-side suction cup assembly 15, and the loading robot assembly 4 transfers the glass on the receiving CV assembly 2 to the short-side suction cup assembly 15; the short-side X-axis module 11 passes through the short-side camera mounting frame 12, and the short-side edge inspection camera assemblies 16 are respectively provided on both sides of the short-side camera mounting frame 12, and the short-side camera Y-axis module 17 is provided on the top of the short-side camera mounting frame 12, and the short-side line scanning camera assembly 18 is provided on the short-side camera Y-axis module 17; The long side stage assembly 5 includes a long side Y axis module 19 and a long side camera mounting frame 20. The long side Y axis module 19 is provided with a long side bottom plate 21. The long side bottom plate 21 is provided with a suction cup X axis module 22. The suction cup X axis module 22 is provided with a long side suction cup assembly 23. The transfer manipulator assembly 6 transfers the glass on the short side suction cup assembly 15 to the long side suction cup assembly 23. The long side Y axis module 19 passes through the long side camera mounting frame 20. The long side camera mounting frame 20 is provided with a long side inspection camera assembly 24 on both sides. The short side inspection camera assembly 16 and the long side inspection camera assembly 24 are provided with wind knives. Before the inspection, the wind knives can blow away the dust on the product so that the inspection is more accurate. The short side suction cup assembly 15 and the long side suction cup assembly 23 can realize manual conversion to adapt to a variety of products.

[0024] The mobile claw material receiving assembly 10 and the Z-axis lifting and transferring assembly 8 are arranged side by side along the Y direction. The unloading and transferring X-axis assembly 7 transfers the glass on the long side suction cup assembly 23 to the Z-axis lifting and transferring assembly 8. The Z-axis lifting and transferring assembly 8 drives the glass to rise to the feeding height. Then the unloading and transferring Y-axis assembly 9 transfers the glass on the Z-axis lifting and transferring assembly 8 to the upper conveying assembly 25 or the lower conveying assembly 26 of the mobile claw material receiving assembly 10.

[0025] In this technical solution, the upstream feeding equipment transfers the glass to the receiving CV component 2, the loading robot component 4 transfers the glass from the receiving CV component 2 to the short side Stage component 3, and then the short side X-axis module 11 drives the glass to a position close to the transfer robot component 6. Since the short side X-axis module 11 passes through the short side camera mounting frame 12, short side inspection camera components 16 are respectively provided on both sides of the short side camera mounting frame 12, and a short side camera Y-axis module 17 is provided on the top of the short side camera mounting frame 12. A short side line scanning camera component 18 is provided on the short side camera Y-axis module 17, so that in the process of the glass moving along the short side X-axis module 11, the short side inspection camera components 16 on both sides can detect the edges of both sides of the glass, and the short side line scanning camera component 18 can move along the short side camera Y-axis module 17 and detect the surface of the glass in the process of the glass moving along the short side X-axis module 11 until the detection of the glass surface and the edges on both sides is completed, and the glass moves to a position close to the long side St age component 5; then the transfer robot component 6 takes the glass and places it on the long side Stage component 5, and then the long side Y-axis module 19 drives the glass to a position close to the unloading and handling X-axis component 7. Since the long side Y-axis module 19 passes through the long side camera mounting frame 20, long side edge inspection camera components 24 are respectively provided on both sides of the long side camera mounting frame 20. The long side edge inspection camera components 24 on both sides realize the detection of the other two side edges of the glass until the detection of the other two side edges of the glass is completed, and the glass moves to a position close to the unloading and handling X-axis component 7. After the unloading and handling X-axis component 7 takes the material, it places the glass on the Z-axis lifting and transfer handling component 8. The Z-axis lifting and transfer handling component 8 moves upward to send the glass to the feeding height. The unloading and handling Y-axis component 9 then transfers the glass on the Z-axis lifting and transfer handling component 8 to the upper handling component 25 or the lower handling component 26 of the mobile claw receiving component 10, and then transmits it to the lower stage equipment through the mobile claw receiving component 10.

[0026] In summary, in the present technical solution, the material receiving CV component 2 and the long side Stage component 5 are both located on one side of the short side X-axis module 11, which improves the compactness of the structure of the material receiving CV component 2, the short side Stage component 3 and the long side Stage component 5, and also facilitates the setting of the loading robot component 4 and the transfer robot component 6, so that the glass can be moved along the X direction and the Y direction, and the edge and surface of the glass can be detected during the movement. The entire structure is compactly designed, the operation efficiency is higher, and the glass detection efficiency is improved. The setting of the material unloading and handling X-axis component 7, the Z-axis lifting and transfer handling component 8, and the material unloading and handling Y-axis component 9 can facilitate the efficient transfer of the detected glass to the mobile claw material receiving component 10. The upper handling component 25 and the lower handling component 26 are respectively used to transfer the detected glass, which can increase the material unloading speed, thereby improving the detection output efficiency of the entire equipment.

[0027] Embodiment 2: This embodiment is optimized based on the above-mentioned embodiment 1.

[0028] The material receiving CV assembly 2 includes a feeding transmission assembly, a clamping assembly and a blocking assembly 27. The clamping assembly clamps the glass from both sides of the feeding transmission assembly, and the blocking assembly 27 is arranged on one end of the feeding transmission assembly away from the feeding end.

[0029] The clamping assembly is used to clamp the glass transmitted by the upstream feeding device so as to prevent the glass from tilting and collision-proof and to achieve alignment. The blocking assembly 27 is used to prevent the glass from sliding out of the front of the receiving CV assembly 2 from the upstream feeding device.

[0030] Embodiment three: This embodiment is optimized based on the above-mentioned embodiment 2.

[0031] In order to facilitate the driving of multiple clamping limit columns 29, the clamping assembly includes a clamping Y-axis module 28 and a plurality of clamping limit columns 29. The plurality of clamping limit columns 29 are respectively located on both sides of the feeding transmission assembly. The bottoms of the plurality of clamping limit columns 29 on the same side are connected with a connecting plate. The clamping Y-axis module 28 is used to drive the connecting plate to move, so that the synchronous driving of the plurality of clamping limit columns 29 can be realized at the same time.

[0032] Embodiment 4: This embodiment is optimized based on the above-mentioned embodiment 2.

[0033] In order to simultaneously drive multiple conveying shafts 30, the loading transmission assembly includes a bracket installed on the frame assembly 1, and a plurality of conveying shafts 30 are arranged on the bracket at equal intervals along the Y direction. One end of the conveying shaft 30 is driven to rotate by a motor, and the other end of the conveying shaft 30 is rotatably connected to the bracket through a bearing.

[0034] The material receiving CV component 2 also includes a position sensor, which detects whether the glass is delivered to the right position. After the glass is delivered to the right position, the motor stops driving the conveying shaft 30, and the clamping component drives the clamping limit columns 29 on both sides to clamp toward the middle to achieve positioning of the glass. After the glass is positioned, the loading robot component 4 can achieve precise grasping.

[0035] Embodiment five: This embodiment is optimized based on the above-mentioned fourth embodiment.

[0036] In order to better transport the glass, a plurality of rubber rollers 31 are provided on the conveying shaft 30 at intervals along the length direction of the conveying shaft 30 .

[0037] Specifically, the feeding transmission assembly is composed of twenty-five transmission shafts 30 and a plurality of rubber rollers 31, and is driven to rotate by a motor so that the product can be safely conveyed and can be applied to a variety of products, and there is a blocking assembly 27 in front of the feeding transmission assembly so that the product can be safe.

[0038] Embodiment six: This embodiment is optimized based on the above-mentioned embodiment 1.

[0039] In order to better realize the grasping of glass, the loading robot assembly 4, the transfer robot assembly 6 and the unloading and handling Y-axis assembly 9 all include a door-type bracket 32, the door-type bracket 32 ​​is provided with a Y-axis module 33, the Y-axis module 33 is provided with a Z-axis module 34, the Z-axis module 34 is provided with an L-shaped bracket 35, and the lower end of the L-shaped bracket 35 is provided with a suction cup assembly 36, which is a suction cup with a buffer guide rod, which can well protect various products.

[0040] Embodiment seven: This embodiment is optimized based on the above-mentioned embodiment 1.

[0041] In order to better realize the transfer of glass between the long side stage assembly 5 and the Z-axis lifting transfer assembly 8, the unloading and conveying X-axis assembly 7 includes an unloading bracket 37, on which is disposed an unloading X-axis module 38, on which is disposed an unloading Z-axis module 39, on which is disposed an unloading L-shaped bracket, and at the lower end of which is disposed an unloading suction cup assembly 40. The unloading suction cup assembly 40 is a suction cup with a buffer guide rod, which can well protect various products.

[0042] Embodiment eight: This embodiment is optimized based on the above-mentioned embodiment 1.

[0043] In order to better realize the loading and unloading of glass in the lifting state, so as to better connect the material receiving and feeding between the unloading and conveying X-axis assembly 7 and the unloading and conveying Y-axis assembly 9, the Z-axis lifting and transfer conveying assembly 8 includes a lifting and conveying module 42 symmetrically arranged on the frame assembly 1, and a lifting and conveying bracket 41 is provided between the two lifting and conveying modules 42, and an adsorption PIN assembly 43 is provided on the lifting and conveying bracket 41.

[0044] Embodiment nine: This embodiment is optimized based on the above-mentioned embodiment 1.

[0045] In order to better achieve the double-layer conveying effect in the same direction, the upper conveying component 25 and the lower conveying component 26 both include a Y-axis conveying module 44, the Y-axis conveying module 44 is provided with a conveying base plate 45 or a base frame, the conveying base plate 45 or the base frame is provided with a conveying suction cup assembly 46, the Y-axis conveying module 44 of the upper conveying component 25 is provided with a support frame 47, the conveying base plate 45 or the base frame of the upper conveying component 25 is installed on the support frame 47, and the conveying base plate 45 or the base frame of the upper conveying component 25 is higher than the conveying base plate 45 of the lower conveying component 26.

[0046] Embodiment ten: This embodiment is optimized based on the above-mentioned embodiment 1.

[0047] In order to better achieve stable installation of each component and improve the practical reliability of the equipment, the rack assembly 1 includes a first rack 1.1 and a second rack 1.2. The height of the first rack 1.1 is lower than that of the second rack 1.2. The material receiving CV assembly 2, the short side Stage assembly 3, the long side Stage assembly 5, the loading robot assembly 4 and the transfer robot assembly 6 are all arranged on the first rack 1.1. The Z-axis lifting and transfer handling assembly 8, the unloading and handling Y-axis assembly 9 and the mobile claw material receiving assembly 10 are all arranged on the second rack 1.2. The unloading and handling X-axis assembly 7 is arranged between the first rack 1.1 and the second rack 1.2. The outside of the rack assembly 1 is provided with an aluminum profile cover assembly 48, and the aluminum profile cover assembly 48 is provided with a human-machine control panel 49 and an EFU fan filter unit 50.

[0048] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A glass edge detection device, characterized in that: The machine comprises a frame assembly, on which a material receiving CV assembly, a short side Stage assembly, a material loading manipulator assembly, a long side Stage assembly, a transfer manipulator assembly, a material unloading and conveying X-axis assembly, a Z-axis lifting and transfer conveying assembly, a material unloading and conveying Y-axis assembly and a mobile claw material receiving assembly are arranged. The material receiving CV assembly receives the glass transmitted by the upstream feeding equipment. The short side Stage assembly comprises a short side X-axis module and a short side camera mounting frame. The material receiving CV assembly and the long side Stage assembly are both located on the short side X-axis module. On one side of the group, the short side X-axis module is provided with a short side bottom plate, the short side bottom plate is provided with a suction cup Y-axis module, the suction cup Y-axis module is provided with a short side suction cup assembly, and the loading robot assembly transfers the glass on the receiving CV assembly to the short side suction cup assembly; the short side X-axis module passes through the short side camera mounting frame, the two sides of the short side camera mounting frame are respectively provided with short side inspection camera assemblies, the top of the short side camera mounting frame is provided with a short side camera Y-axis module, and the short side camera Y-axis module is provided with a short side line scanning camera assembly; The long side Stage assembly includes a long side Y-axis module and a long side camera mounting frame, the long side Y-axis module is provided with a long side bottom plate, the long side bottom plate is provided with a suction cup X-axis module, the suction cup X-axis module is provided with a long side suction cup assembly, the transfer manipulator assembly transfers the glass on the short side suction cup assembly to the long side suction cup assembly, the long side Y-axis module passes through the long side camera mounting frame, and long side inspection camera assemblies are respectively provided on both sides of the long side camera mounting frame; The mobile claw material receiving assembly and the Z-axis lifting and transferring assembly are arranged side by side along the Y direction, the material unloading and transferring X-axis assembly transfers the glass on the long side suction cup assembly to the Z-axis lifting and transferring assembly, the Z-axis lifting and transferring assembly drives the glass to rise to the feeding height, and then the material unloading and transferring Y-axis assembly transfers the glass on the Z-axis lifting and transferring assembly to the upper transferring assembly or the lower transferring assembly of the mobile claw material receiving assembly.

2. A glass edge detection device according to claim 1, characterized in that: The material receiving CV assembly includes a feeding transmission assembly, a clamping assembly and a blocking assembly. The clamping assembly clamps the glass from both sides of the feeding transmission assembly, and the blocking assembly is arranged on one end of the feeding transmission assembly away from the feeding end.

3. A glass edge detection device according to claim 2, characterized in that: The clamping assembly includes a clamping Y-axis module and a plurality of clamping limit columns, wherein the plurality of clamping limit columns are respectively located on both sides of the feeding transmission assembly, and a connecting plate is connected to the bottom of the plurality of clamping limit columns on the same side, and the clamping Y-axis module is used to drive the connecting plate to move.

4. The glass edge detection device according to claim 2, characterized in that: The feeding transmission assembly includes a bracket installed on the frame assembly, and a plurality of transmission shafts are arranged on the bracket at equal intervals along the Y direction. One end of the transmission shaft is driven to rotate by a motor, and the other end of the transmission shaft is rotatably connected to the bracket through a bearing.

5. The glass edge detection device according to claim 4, characterized in that: A plurality of rubber rollers are arranged on the conveying shaft at intervals along the length direction of the conveying shaft.

6. The glass edge detection device according to claim 1, characterized in that: The loading robot assembly, transfer robot assembly and unloading and handling Y-axis assembly all include a door-shaped bracket, the door-shaped bracket is provided with a Y-axis module, the Y-axis module is provided with a Z-axis module, the Z-axis module is provided with an L-shaped bracket, and the lower end of the L-shaped bracket is provided with a suction cup assembly.

7. The glass edge detection device according to claim 1, characterized in that: The material unloading and handling X-axis assembly includes a material unloading bracket, on which a material unloading X-axis module is provided, on which a material unloading Z-axis module is provided, on which a material unloading L-shaped bracket is provided, and at the lower end of which a material unloading suction cup assembly is provided.

8. The glass edge detection device according to claim 1, characterized in that: The Z-axis lifting and transfer transport component includes a lifting and transport module symmetrically arranged on the frame component, a lifting and transport bracket is arranged between the two lifting and transport modules, and an adsorption PIN component is arranged on the lifting and transport bracket.

9. The glass edge detection device according to claim 1, characterized in that: The upper transport assembly and the lower transport assembly both include a Y-axis transport module, the Y-axis transport module is provided with a transport base plate, the transport base plate is provided with a transport suction cup assembly, the Y-axis transport module of the upper transport assembly is provided with a support frame, the transport base plate of the upper transport assembly is installed on the support frame, and the transport base plate of the upper transport assembly is higher than the transport base plate of the lower transport assembly.

10. The glass edge detection device according to claim 1, characterized in that: The frame assembly includes a first frame and a second frame, the height of the first frame is lower than that of the second frame, the material receiving CV assembly, the short side Stage assembly, the long side Stage assembly, the loading robot assembly and the transfer robot assembly are all arranged on the first frame, the Z-axis lifting and transfer handling assembly, the unloading and handling Y-axis assembly and the mobile claw material receiving assembly are all arranged on the second frame, the unloading and handling X-axis assembly is arranged between the first frame and the second frame, and an aluminum profile cover assembly is provided on the outside of the frame assembly, and a human-machine control panel and an EFU fan filter unit are provided on the aluminum profile cover assembly.

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