Glass loading and unloading equipment and control method

Abstract

The invention discloses glass loading and unloading equipment and a control method. The glass loading and unloading equipment comprises a sheet bearing mechanism, a turnover mechanism, a first positioning piece and a controller. The sheet bearing mechanism is provided with a sheet bearing surface, the sheet bearing surface is used for placing glass, and the sheet bearing mechanism comprises a first translation module; the first positioning piece is installed at the downstream end of the wafer bearing mechanism in the wafer discharging direction, and the first positioning piece can ascend and descend relative to the wafer bearing face. By designing a first positioning piece, glass is positioned for the first time before being discharged, then a first safety distance of a current discharging control step is obtained, and then the first positioning piece is controlled to descend, so that a first translation module drives the glass to extend out of the first safety distance by taking the first positioning piece as a reference; and after the mechanical arm drives the glass to rotate, the bottom surface of the glass is closer to the bottom surface of the placing frame, so that accidents such as falling and collision of the glass after the mechanical arm is separated from the glass can be avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of glass transportation equipment, and in particular to glass loading and unloading equipment and a control method thereof. Background Art

[0002] In the process of glass processing, it is often involved in the upper and lower pieces of glass and the transportation of glass. The upper piece of glass refers to placing the glass on the external placement rack on the conveyor platform by the rotation of the mechanical arm, and the lower piece of glass refers to moving the glass on the conveyor platform to the external placement rack by the rotation of the mechanical arm, and the transport platform is responsible for transporting and carrying the glass that needs to be put on and put off. In the process of glass unloading, generally speaking, multiple pieces of glass are placed on a placement rack. Since the position of the placement rack is basically fixed, the glass needs to be placed at the innermost part of the placement rack when the first piece of glass is placed. In order to prevent the glass from collapsing when placed on it, the bottom surface of the placement rack is an inclined surface, so that the glass is slightly upward after being placed on it. The bottom surface of the placement rack is deeper and deeper. In order to prevent the bottom surface of the glass from being too far away from the bottom surface of the placement rack after the unloading procedure is completed and the mechanical arm and the glass fall off, the glass falls and bumps, etc., when the mechanical arm places the first glass or the first few pieces of glass, it is necessary to drive the glass to move a distance to the placement rack to make the glass and the bottom surface of the placement rack close enough. However, the following problem will arise when unloading large glass. Large glass is heavy. If a telescopic structure is designed on the robot arm or the robot arm is connected to the telescopic structure, and the telescopic direction is perpendicular to the direction of gravity, the telescopic structure itself may be affected by the gravity of the glass and bend or be damaged at the telescopic node, posing a safety hazard. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a glass loading and unloading device, which can achieve safe unloading of glass without requiring the mechanical arm to have a telescopic function.

[0004] The invention also provides a control method for controlling glass loading and unloading equipment.

[0005] According to the first aspect of the present invention, the glass loading and unloading equipment includes a sheet-carrying mechanism, a flipping mechanism, a first positioning member, and a controller. The sheet-carrying mechanism has a sheet-carrying surface, and the sheet-carrying surface is used to place glass. The sheet-carrying mechanism includes a first translation module, and the first translation module is used to drive the glass to move along the lower sheet direction and the upper sheet direction, and the lower sheet direction is opposite to the upper sheet direction. The flipping mechanism includes a mechanical arm, and the mechanical arm can rotate relative to the sheet-carrying surface. The flipping mechanism is used to move the glass down and up. When the flipping mechanism moves the glass down, the mechanical arm drives the glass to rotate so that the glass is separated from the sheet-carrying surface. When the flipping mechanism moves the glass up, the mechanical arm drives the glass to rotate until the glass is placed on the sheet-carrying surface. The first positioning member is installed at the downstream end of the sheet-carrying mechanism along the lower sheet direction. The first positioning member can be raised and lowered relative to the sheet-carrying surface. The controller is configured as follows: before unloading the glass, the controller controls the first positioning member to extend relative to the sheet-carrying surface first, controls the first translation module to drive the glass to move along the unloading direction until the edge of the glass abuts against the first positioning member, and then lowers the first positioning member to below the sheet-carrying surface, obtains the first safety distance of the current unloading control step, and after the first positioning member is lowered to below the sheet-carrying surface, controls the first translation module to continue to drive the glass to move, so that the glass moves the first safety distance relative to the first positioning member along the unloading direction, and then unloads the glass.

[0006] The glass loading and unloading equipment according to the embodiment of the present invention has at least the following beneficial effects: by designing the first positioning piece, the glass is positioned once before being unloaded, and then the first safety distance of the current unloading control step is obtained, and then the first positioning piece is controlled to descend, so that the first translation module drives the glass to extend the first safety distance based on the first positioning piece. Since the glass has been relatively extended for a certain distance, after the mechanical arm drives the glass to rotate, the bottom surface of the glass will be closer to the bottom surface of the placement rack. In this way, accidents such as the glass falling and bumping after the mechanical arm and the glass are separated can be avoided. In addition, the sheet-carrying mechanism itself is used to carry and transport glass. Based on this technology, the first translation module is designed to drive the glass to move in the unloading direction without placing too much burden on it.

[0007] According to some embodiments of the present invention, the glass receiving mechanism includes a second translation module, the glass receiving surface is located in the second translation module, and the second translation module is used to transport the glass along the conveying direction, so that the glass loading and unloading equipment loads and unloads a plurality of glasses, and any two of the unloading direction, the conveying direction, and the vertical direction are perpendicular to each other. When the glass loading and unloading equipment unloads glasses at the same position, the first safety distance gradually decreases as the number of glasses that have been unloaded increases.

[0008] According to some embodiments of the present invention, the glass loading and unloading equipment further comprises a base and a third translation module. The sheet-carrying mechanism and the flipping mechanism are mounted on the base. Before unloading the glass, the controller obtains the second safety distance of the current unloading control step, and controls the third translation module to drive the sheet-carrying mechanism to move, so that the sheet-carrying mechanism moves the second safety distance relative to the base along the unloading direction.

[0009] According to some embodiments of the present invention, when the glass loading and unloading equipment is unloading glass at the same position, the second safety distance will gradually decrease as the amount of the glass unloaded increases.

[0010] According to some embodiments of the present invention, the glass loading and unloading equipment further comprises a base, a guide rail and a driving mechanism. The sheet-carrying mechanism and the flipping mechanism are mounted on the base. The guide rail extends along the conveying direction of the glass, the base is movably mounted on the guide rail, and a plurality of placement racks are fixedly mounted on one side of the guide rail along the sheet-loading direction, and the placement racks are used to place the glass. The driving mechanism is connected to the base, and the driving mechanism is used to drive the base to move along the guide rail.

[0011] According to some embodiments of the present invention, the glass loading and unloading equipment includes a lifting module, which is connected to the first translation module, and is used to lift and lower the first translation module relative to the second translation module. When the first translation module is higher than the second translation module, the first translation module is used to load and unload the glass, and when the second translation module is higher than the first translation module, the second translation module is used to transport the glass.

[0012] According to some embodiments of the present invention, the glass handling equipment further comprises a first sensor, wherein the first sensor is used to detect the amount of the glass that has been unloaded by the glass handling equipment at a current position and transmit the information to the controller.

[0013] According to the control method of the second aspect of the present invention, the glass loading and unloading equipment is used to control the glass loading and unloading equipment, which includes a sheet-carrying mechanism, a flipping mechanism, a first positioning member and a controller. The sheet-carrying mechanism has a sheet-carrying surface, and the sheet-carrying surface is used to place the glass. The sheet-carrying mechanism includes a first translation module, and the first translation module is used to drive the glass to move along the lower sheet direction and the upper sheet direction, and the lower sheet direction is opposite to the upper sheet direction. The flipping mechanism includes a mechanical arm, and the mechanical arm can rotate relative to the sheet-carrying surface. The flipping mechanism is used to make the glass lower and upper. When the flipping mechanism is used to lower the glass, the mechanical arm drives the glass to rotate so that the glass is separated from the sheet-carrying surface. When the flipping mechanism is used to upper the glass, the mechanical arm drives the glass to rotate until the glass is placed on the sheet-carrying surface. The first positioning member is installed at the downstream end of the sheet-carrying mechanism along the lower sheet direction, and the first positioning member can be raised and lowered relative to the sheet-carrying surface. The control method includes a lowering piece control step, and the lowering piece control step includes: the controller controls the first positioning member to extend relative to the sheet-carrying surface; after the first positioning member is extended, the first translation module is controlled to drive the glass to move along the lowering piece direction until the edge of the glass abuts against the first positioning member, and then the first positioning member is controlled to be lowered to below the sheet-carrying surface; the first safety distance of the current lowering piece control step is obtained, and after the first positioning member is lowered to below the sheet-carrying surface, the first translation module is controlled to continue to drive the glass to move along the lowering piece direction by the first safety distance, and then the sheet is lowered.

[0014] The control method according to the embodiment of the present invention has at least the following beneficial effects: by controlling the first positioning member to rise, the glass is positioned once before being unloaded, and then the first safety distance of the current unloading control step is obtained, and then the first positioning member is controlled to descend, so that the first translation module drives the glass to extend the first safety distance based on the first positioning member. Since the glass has been relatively extended for a certain distance, after the robotic arm drives the glass to rotate, the bottom surface of the glass will be closer to the bottom surface of the placement rack. This can avoid accidents such as the glass falling and bumping after the robotic arm and the glass are separated. In addition, the sheet-carrying mechanism itself is used to carry and transport glass. Based on this technology, the first translation module is designed to drive the glass to move in the unloading direction without placing too much burden on it.

[0015] According to some embodiments of the present invention, before the controller controls the first positioning member to extend relative to the sheet-carrying surface, the lower sheet control step also includes: after the glass is transported to the sheet-carrying mechanism along the conveying direction, the lifting module is driven to drive the first translation module to rise so that the first translation module is higher than the second translation module; if the second sensor detects that the glass exists above the first positioning member, the first translation module is controlled to drive the glass to move along the upper sheet direction until the second sensor detects that the glass does not exist above the first positioning member.

[0016] According to some embodiments of the present invention, the control method also includes a loading control step, which includes: driving the base to move along the guide rail to the front of the target placement rack, driving the robotic arm to rotate in the lower sheet direction until it contacts the glass on the placement rack, so that the robotic arm connects to the glass and rotates in the loading direction until the glass is placed on the receiving surface.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 is a first stereoscopic view of a glass handling device in one embodiment of the present invention; Figure 2 for Figure 1 A magnified image of area A; Figure 3 for Figure 2 Enlarged view of area B; Figure 4 It is a first partial schematic diagram of a glass loading and unloading device in one embodiment of the present invention; Figure 5 is a second perspective view of a glass handling device in one embodiment of the present invention; Figure 6 It is a partial schematic diagram of a glass loading and unloading device in one embodiment of the present invention; Figure 7 for Figure 6 Enlarged view of the middle C area; Figure 8 It is a partial schematic diagram of a mechanical arm of a glass handling equipment in one embodiment of the present invention; Fig. 9 It is a side view showing the relative position of the glass and the placement rack during the unloading process.

[0019] Figure numerals: glass loading and unloading equipment 100, sheet holding mechanism 101, flipping mechanism 102, controller 103, glass 104, placement rack 105, guide rail 106, second positioning member 107, driving mechanism 108, robotic arm 201, small arm motor 202, large arm motor 203, first translation module 204, second translation module 205, large arm 206, small arm 207, first positioning member 301, lifting module 401, third translation module 601, base 602, large connecting rod 801, rotating rod 802, small connecting rod 803. DETAILED DESCRIPTION

[0020] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0021] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0022] In the description of the present invention, "several" means more than one, "many" means more than two, "greater than", "less than", "exceed" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0023] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0024] In the description of the present invention, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0025] refer to Fig. 9 In order to prevent the glass 104 from collapsing when placed on the shelf 105, the bottom surface is made as follows Fig. 9 The inclined shape shown in the figure makes the glass 104 slightly upward after being placed on it, and the bottom surface of the placement rack 105 becomes deeper and deeper. Therefore, in order to prevent the bottom surface of the glass 104 from being too far away from the bottom surface of the placement rack 105, the prior art needs to move the glass 104 for a longer distance so that the glass 104 and the bottom surface of the placement rack 105 are close enough. However, when the large glass 104 is unloaded, since the glass 104 itself has a large weight, if a telescopic structure is designed on the robot arm 201 at this time, the telescopic structure may be affected by the gravity of the glass 104 itself and bend or be damaged at the telescopic node, posing a safety hazard.

[0026] refer to Figures 1 to 3 The glass loading and unloading equipment 100 according to the first embodiment of the present invention comprises a sheet-carrying mechanism 101, a flipping mechanism 102, a first positioning member 301 and a controller 103. The sheet-carrying mechanism 101 has a sheet-carrying surface, and the sheet-carrying surface is used to place the glass 104. The sheet-carrying mechanism 101 comprises a first translation module 204, and the first translation module 204 is used to drive the glass 104 to move in the lower sheet direction and the upper sheet direction, and the lower sheet direction and the upper sheet direction are opposite. The flipping mechanism 102 comprises a mechanical arm 201, and the mechanical arm 201 can rotate relative to the sheet-carrying surface. The flipping mechanism 102 is used to make the glass 104 lower and upper. When the flipping mechanism 102 lowers the glass 104, the mechanical arm 201 drives the glass 104 to rotate so that the glass 104 is separated from the sheet-carrying surface. When the flipping mechanism 102 loads the glass 104, the mechanical arm 201 drives the glass 104 to rotate until the glass 104 is placed on the sheet-carrying surface. The first positioning member 301 is installed at the downstream end of the sheet-carrying mechanism 101 along the sheet-loading direction, that is, at one end of the sheet-carrying mechanism 101 close to the placement frame 105, and the first positioning member 301 can be raised and lowered relative to the sheet-carrying surface. The controller 103 is configured as follows: before the glass 104 is unloaded, the controller 103 controls the first positioning member 301 to extend relative to the sheet-carrying surface first, controls the first translation module 204 to drive the glass 104 to move along the sheet-loading direction until the edge of the glass 104 abuts against the first positioning member 301, and then lowers the first positioning member 301 to the bottom of the sheet-carrying surface, obtains the first safety distance of the current sheet-loading control step, and after the first positioning member 301 is lowered to the bottom of the sheet-carrying surface, controls the first translation module 204 to continue to drive the glass 104 to move, so that the glass 104 moves the first safety distance relative to the first positioning member 301 along the sheet-loading direction, and then unloads the glass.

[0027] By designing the first positioning member 301, the glass 104 is positioned once before being unloaded, and then the first safety distance of the current unloading control step is obtained, and then the first positioning member 301 is controlled to descend, so that the first translation module 204 drives the glass 104 to extend the first safety distance based on the first positioning member 301. Since the glass 104 has been relatively extended for a distance, after the mechanical arm 201 drives the glass 104 to rotate, the bottom surface of the glass 104 will be closer to the bottom surface of the placement rack 105. In this way, accidents such as the glass 104 falling and bumping can be avoided after the mechanical arm 201 and the glass 104 are separated, and the sheet-carrying mechanism 101 itself is used to carry and transport the glass 104. Based on this technology, the first translation module 204 is designed to drive the glass 104 to move along the unloading direction without placing too much burden on it.

[0028] It should be noted that the reference Figure 1 In some embodiments of the present invention, the loading direction refers to the direction from the placement rack 105 to the film-carrying mechanism 101, the lowering direction refers to the direction from the film-carrying mechanism 101 to the placement rack 105, and the conveying direction refers to the extension direction of the film-carrying mechanism 105 and the guide rail 106, as well as the arrangement direction of multiple placement racks 105.

[0029] It should be noted that, in some embodiments of the present invention, during the process of loading the glass 104, the robot arm 201 is Figure 1 The vertical state relative to the sheet-carrying mechanism 101 is rotated to Figure 5 In the state shown in FIG. 1 , the robot arm 201 is located below the sheet-carrying surface so that the glass 104 can be placed on the sheet-carrying surface. In the unloading process of the glass 104, the robot arm 201 is Figure 5 The status changes to Figure 1 In the state shown, after the glass 104 is placed on the placement rack 105, the robot arm 201 is disconnected from the glass 104.

[0030] It should be noted that the reference Figure 1 , Figure 2 and Figure 8In some embodiments of the present invention, the flipping mechanism 102 further includes a large arm motor 203 and a small arm motor 202. The mechanical arm 201 is a parallelogram-shaped connecting rod structure, which includes a small arm 207 for adsorbing glass, a rotating rod 802 connected to the large arm 206, and two small connecting rods 803 connecting the small arm 207 and the rotating rod 802. The tail end of the rotating rod 802 is connected to the large arm 206. The small arm 207 of the mechanical arm 201 for adsorbing glass 104 is connected to the small arm motor 202. The large arm motor 203 is used to drive the entire large arm 206 to rotate relative to the sheet-carrying mechanism 101. The small arm motor 202 drives the large connecting rod 801 to rotate so that the small arm 207 can be raised and lowered slightly. In this way, the upper and lower film processes can be further fine-tuned on the basis of the existing structure, so that the mechanical arm 201 can better adsorb and place the glass 104. Preferably, in some embodiments of the present invention, in order to enable the mechanical arm 201 to better adsorb such as Figure 1 As shown in the large piece of glass 104, two small arm motors 202 are provided, and the small arm 207 on the mechanical arm 201 is connected through a whole large connecting rod 801. The two small arm motors 202 jointly drive the large connecting rod 801 to rotate to drive the small arm 207 to rise and fall. Such a design has more power and avoids the problem that the mechanical arm 201 cannot drive the large piece of glass 104.

[0031] refer to Figure 4 In some embodiments of the present invention, the sheet-carrying mechanism 101 includes a second translation module 205, the sheet-carrying surface is located in the second translation module 205, and the second translation module 205 is used to transport the glass 104 along the conveying direction, so that the glass loading and unloading device 100 loads and unloads a plurality of glasses 104, and any two of the unloading direction, the conveying direction, and the vertical direction are perpendicular to each other. When the glass loading and unloading device 100 unloads the glass at the same position, the first safety distance will gradually decrease as the number of unloaded glasses 104 increases. Because when unloading, the more the number of unloaded glasses 104 is, the closer the placement position of the next glass 104 is to the edge of the sheet-carrying mechanism 101 of the present invention, for safety considerations, the distance that the glass 104 moves relative to the first positioning member 301 along the unloading direction, that is, the first safety distance, should also be reduced accordingly to prevent the glass 104 from being scratched against the unloaded glass 104 on the placement rack 105 when unloading.

[0032] It should be noted that the reference Figure 2 , Figure 3 and Figure 4 In some embodiments of the present invention, the structure of the first translation module 204 is a belt drive driven by a motor, and the structure of the second translation module 205 is a conveyor roller drive driven by a motor, and a plurality of rollers are arranged on the conveyor roller.

[0033] refer to Figure 6 and Figure 7In some embodiments of the present invention, the glass loading and unloading equipment 100 further includes a base 602 and a third translation module 601. The sheet-carrying mechanism 101 and the flipping mechanism 102 are mounted on the base 602. Before unloading the glass 104, the controller 103 obtains the second safety distance of the current unloading control step, and controls the third translation module 601 to drive the sheet-carrying mechanism 101 to move, so that the sheet-carrying mechanism 101 moves the second safety distance relative to the base 602 in the unloading direction. The first translation module 204 drives the glass 104 to move so that the lower edge of the glass 104 can be close to the bottom of the placement rack 105 after flipping, and the third translation module 601 drives the entire sheet-carrying mechanism 101 to move so that the glass 104 can be closer to the placement rack 105, so that the glass 104 can be better placed. Moreover, the third translation module 601 is connected to the base 602 to drive the sheet-carrying mechanism 101 to move, which has a greater bearing capacity than the mechanical arm 201 in the prior art that directly drives the glass 104 to extend outward, because the sheet-carrying mechanism 101 itself has the ability to carry the glass 104. Figure 1 The glass 104 shown is relatively heavy. If the robot 201 is designed to extend the glass 104 , the robot 201 needs to be additionally designed with a structure having a greater load-bearing capacity, which does not meet the lightweight requirements and will make the overall size of the device larger.

[0034] It should be noted that the reference Figure 6 and Figure 7 In some embodiments of the present invention, the third translation module 601 includes gears, motors and racks. The specific transmission method is: the base 602 is provided with a rack, and along the setting direction of the rack, a gear is correspondingly provided on the sheet-carrying mechanism 101. The motor drives the gear to rotate so that the sheet-carrying mechanism 101 moves relative to the base 602 along the lower sheet direction.

[0035] In some embodiments of the present invention, when the glass loading and unloading equipment 100 is unloading at the same position, the second safety distance will gradually decrease as the number of unloaded glasses 104 increases. Since the more unloaded glasses 104 there are, the closer the placement position of the next glass 104 is to the edge of the glass receiving mechanism 101 of the present invention, for safety considerations, the distance that the glass 104 moves along the unloading direction, i.e., the second safety distance, should also be reduced accordingly to prevent the glass 104 from being scratched against the unloaded glass 104 on the placement rack 105 when unloading.

[0036] refer to Figure 1In some embodiments of the present invention, the glass loading and unloading equipment 100 further includes a base 602, a guide rail 106 and a driving mechanism 108. The sheet loading mechanism 101 and the flipping mechanism 102 are mounted on the base 602. The guide rail 106 extends along the conveying direction of the glass 104, and the base 602 is movably mounted on the guide rail 106. A plurality of placement racks 105 are fixedly mounted on one side of the guide rail 106 along the sheet lowering direction, and the placement racks 105 are used to place the glass 104. The driving mechanism 108 is connected to the base 602, and the driving mechanism 108 is used to drive the base 602 to move along the guide rail 106. Such a design allows the glass loading and unloading equipment 100 to load and unload the glass 104 on a plurality of placement racks 105 (not shown in the figure), so that the glass loading and unloading equipment 100 can meet the requirements of loading and unloading various types of glass 104.

[0037] refer to Figure 4 In some embodiments of the present invention, the glass loading and unloading equipment 100 includes a lifting module 401, which is connected to the first translation module 204. The lifting module 401 is used to lift the first translation module 204 relative to the second translation module 205. When the first translation module 204 is higher than the second translation module 205, the first translation module 204 is used to load and unload the glass 104. When the second translation module 205 is higher than the first translation module 204, the second translation module 205 is used to transport the glass 104. In this way, the sheet loading mechanism 101 can meet the requirements of loading and unloading the glass 104 and transporting the glass 104, and there is no need to set up more mechanisms. By setting the lifting module 401, the first translation module 204 and the second translation module 205 are integrated in the vertical direction, so that the glass loading and unloading equipment 100 realizes an integrated design.

[0038] It should be noted that, in some embodiments of the present invention, the lifting module 401 may also be connected to the second translation module 205 , so as to enable relative lifting movement between the first translation module 204 and the second translation module 205 .

[0039] It should be noted that the reference Figure 1 and Figure 4 In some embodiments of the present invention, the glass loading and unloading equipment 100 further includes a second positioning member 107, which is installed at the upstream end of the sheet-carrying mechanism 101 along the conveying direction. The second positioning member 107 is used to abut against the lower edge of the glass 104 that is about to enter the sheet-carrying mechanism 101 along the conveying direction. In this way, the glass 104 can be pre-positioned once, so that the position of the glass 104 after entering the sheet-carrying mechanism 101 is more accurate, which is convenient for the subsequent unloading process. Specifically, the second positioning member 107 rises before the arrival of the glass 104, abuts against the lower edge of the glass 104 to position the glass 104, and then descends to allow the glass 104 to continue to be conveyed.

[0040] It should be noted that the reference Figure 3 and Figure 4 In some embodiments of the present invention, the support surface refers to the top surface of the roller in the second translation module 205.

[0041] In some embodiments of the present invention, the glass loading and unloading equipment 100 further includes a first sensor, which is used to detect the number of glasses 104 that have been unloaded at the current position of the glass loading and unloading equipment 100, and transmit the information to the controller 103. After knowing the number of glasses 104 that have been unloaded, the controller 103 can obtain the current first safety distance and the second safety distance according to the data to achieve better unloading. Specifically, in some embodiments of the present invention, the first translation module 204 drives the belt to rotate through a motor to realize the transmission function, and the first sensor is connected to the motor connected to the first translation module 204 and obtains the number of rotations thereof, and the current number of belt transmissions is calculated to obtain the number of glasses 104 that have been unloaded at the current position. In some embodiments of the present invention, the first sensor can also be connected to the placement rack 105 to obtain the initial weight and subsequent weight of the placement rack 105 to determine the number of glasses 104 on the placement rack 105, or connected to the arm motor 203 and the arm motor 202 to determine the number of rotations of the mechanical arm 201, etc.

[0042] The control method according to the second aspect of the present invention is used to control the glass loading and unloading equipment 100. The control method includes a sheet unloading control step, which includes: the controller 103 controls the first positioning member 301 to extend relative to the sheet receiving surface; after the first positioning member 301 extends, the first translation module 204 is controlled to drive the glass 104 to move along the sheet unloading direction until the edge of the glass 104 abuts against the first positioning member 301, and then the first positioning member 301 is controlled to be lowered to the bottom of the sheet receiving surface; the first safety distance of the current sheet unloading control step is obtained, and after the first positioning member 301 is lowered to the bottom of the sheet receiving surface, the first translation module 204 is controlled to continue to drive the glass 104 to move along the sheet unloading direction by the first safety distance, and then the sheet unloading is performed. By controlling the first positioning member 301 to rise, the glass 104 is positioned once before being unloaded, and then the first safety distance of the current unloading control step is obtained, and then the first positioning member 301 is controlled to descend, so that the first translation module 204 drives the glass 104 to extend the first safety distance based on the first positioning member 301. Since the glass 104 has been relatively extended for a distance, after the mechanical arm 201 drives the glass 104 to rotate, the bottom surface of the glass 104 will be closer to the bottom surface of the placement rack 105. In this way, accidents such as the glass 104 falling and bumping can be avoided after the mechanical arm 201 and the glass 104 are separated. In addition, the sheet-carrying mechanism 101 itself is used to carry and transport the glass 104. Based on this technology, the first translation module 204 is designed to drive the glass 104 to move along the unloading direction without placing too much burden on it.

[0043] In some embodiments of the present invention, before the controller 103 controls the first positioning member 301 to extend relative to the sheet-carrying surface, the lowering control step further includes: after the glass 104 is transported to the sheet-carrying mechanism 101 along the conveying direction, the lifting module 401 is driven to drive the first translation module 204 to rise so that the first translation module 204 is higher than the second translation module 205. If the second sensor detects that there is glass 104 above the first positioning member 301, the first translation module 204 is controlled to drive the glass 104 to move along the upper direction until the second sensor detects that there is no glass 104 above the first positioning member 301. The second sensor is designed to further detect the upper part of the first positioning member 301, so as to prevent the phenomenon that when the glass 104 is transported to the sheet-carrying mechanism 101, the glass 104 blocks the first positioning member 301, and the first positioning member 301 is still raised, so as to scratch and wear the lower surface of the glass 104.

[0044] In some embodiments of the present invention, the control method further includes a loading control step, which includes: driving the base 602 to move along the guide rail 106 to the front of the target placement rack 105, driving the mechanical arm 201 to rotate in the direction of the lower plate until it contacts the glass 104 on the placement rack 105, and making the mechanical arm 201 connect the glass 104 and rotate in the direction of the upper plate until the glass 104 is placed on the plate receiving surface. Multiple placement racks 105 are placed on one side of the guide rail 106, and the guide rail 106 is driven to move to the front of the target placement rack 105 for loading, so that the glass loading and unloading equipment 100 can meet the loading requirements of various types of glass 104.

[0045] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present invention. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. Glass loading and unloading equipment, characterized in that: include: A sheet-carrying mechanism, having a sheet-carrying surface, the sheet-carrying surface is used to place the glass, the sheet-carrying mechanism comprises a first translation module, the first translation module is used to drive the glass to move along a lower sheet direction and an upper sheet direction, the lower sheet direction is opposite to the upper sheet direction; The flip mechanism comprises a mechanical arm, the mechanical arm can rotate relative to the sheet-carrying surface, the flip mechanism is used to make the glass lower and upper, when the flip mechanism lowers the glass, the mechanical arm drives the glass to rotate so that the glass is separated from the sheet-carrying surface, when the flip mechanism puts the glass on, the mechanical arm drives the glass to rotate until the glass is placed on the sheet-carrying surface; A first positioning member, the first positioning member is installed at the downstream end of the sheet-carrying mechanism along the lower sheet direction, and the first positioning member can be raised and lowered relative to the sheet-carrying surface; A controller, wherein the controller is configured as follows: before unloading the glass, the controller controls the first positioning member to first extend relative to the sheet-carrying surface, controls the first translation module to drive the glass to move along the unloading direction until the edge of the glass abuts against the first positioning member, and then lowers the first positioning member to below the sheet-carrying surface, obtains the first safety distance of the current unloading control step, and after the first positioning member is lowered to below the sheet-carrying surface, controls the first translation module to continue to drive the glass to move, so that the glass moves the first safety distance relative to the first positioning member along the unloading direction, and then unloads the glass.

2. The glass loading and unloading equipment according to claim 1, characterized in that: The glass receiving mechanism comprises a second translation module, the glass receiving surface is located in the second translation module, and the second translation module is used to transport the glass along a conveying direction so that the glass loading and unloading equipment can load and unload a plurality of glasses, and any two of the unloading direction, the conveying direction and the vertical direction are perpendicular to each other; When the glass loading and unloading equipment unloads glass at the same position, the first safety distance gradually decreases as the amount of glass unloaded increases.

3. The glass loading and unloading equipment according to claim 2, characterized in that: The glass loading and unloading equipment also includes: A base, on which the sheet-carrying mechanism and the flipping mechanism are mounted; The third translation module, before the glass is lowered, the controller obtains the second safety distance of the current lowering control step, and controls the third translation module to drive the sheet-carrying mechanism to move, so that the sheet-carrying mechanism moves the second safety distance relative to the base along the lowering direction.

4. The glass loading and unloading equipment according to claim 3, characterized in that: When the glass loading and unloading equipment unloads glass at the same position, the second safety distance gradually decreases as the number of glasses unloaded increases.

5. The glass loading and unloading equipment according to claim 1, characterized in that: The glass loading and unloading equipment also includes: A base, on which the sheet-carrying mechanism and the flipping mechanism are mounted; A guide rail, the guide rail extends along the conveying direction of the glass, the base is movably mounted on the guide rail, a plurality of placement racks are fixedly mounted on one side of the guide rail along the lower sheet direction, and the placement racks are used to place the glass; A driving mechanism is connected to the base and is used to drive the base to move along the guide rail.

6. The glass loading and unloading equipment according to claim 2, characterized in that: The glass loading and unloading equipment includes a lifting module, which is connected to the first translation module. The lifting module is used to lift the first translation module relative to the second translation module. When the first translation module is higher than the second translation module, the first translation module is used to load and unload the glass. When the second translation module is higher than the first translation module, the second translation module is used to transport the glass.

7. The glass loading and unloading equipment according to claim 1, characterized in that: The glass handling equipment further comprises a first sensor, which is used to detect the amount of the glass that has been unloaded by the glass handling equipment at a current position and transmit the information to the controller.

8. A control method, characterized in that: The control method is used to control glass loading and unloading equipment, and the glass loading and unloading equipment comprises: A sheet-carrying mechanism, having a sheet-carrying surface, the sheet-carrying surface is used to place the glass, the sheet-carrying mechanism comprises a first translation module, the first translation module is used to drive the glass to move along a lower sheet direction and an upper sheet direction, the lower sheet direction is opposite to the upper sheet direction; The flip mechanism comprises a mechanical arm, the mechanical arm can rotate relative to the sheet-carrying surface, the flip mechanism is used to make the glass lower and upper, when the flip mechanism lowers the glass, the mechanical arm drives the glass to rotate so that the glass is separated from the sheet-carrying surface, when the flip mechanism puts the glass on, the mechanical arm drives the glass to rotate until the glass is placed on the sheet-carrying surface; A first positioning member, the first positioning member is installed at the downstream end of the sheet-carrying mechanism along the lower sheet direction, and the first positioning member can be raised and lowered relative to the sheet-carrying surface; Controller; The control method comprises a lower slice control step, and the lower slice control step comprises: The controller controls the first positioning member to extend relative to the carrier surface; After the first positioning member is extended, the first translation module is controlled to drive the glass to move along the lower sheet direction until the edge of the glass abuts against the first positioning member, and then the first positioning member is controlled to be lowered to below the sheet receiving surface; The first safety distance of the current unloading control step is obtained, and after the first positioning member is lowered below the sheet-carrying surface, the first translation module is controlled to continue to drive the glass to move the first safety distance along the unloading direction, and then unloading is performed.

9. The control method according to claim 8, characterized in that: The glass loading and unloading equipment comprises a lifting module and a second sensor, the lifting module is connected to the first translation module, the second sensor is connected to the first positioning member, the sheet receiving mechanism comprises a second translation module, the second translation module is used to transport the glass along the conveying direction, any two of the sheet loading direction, the conveying direction and the vertical direction are perpendicular to each other, and before the controller controls the first positioning member to extend relative to the sheet receiving surface, the sheet loading control step further comprises: After the glass is transported to the sheet-carrying mechanism along the conveying direction, the lifting module is driven to drive the first translation module to rise so that the first translation module is higher than the second translation module; if the second sensor detects that the glass exists above the first positioning member, the first translation module is controlled to drive the glass to move along the loading direction until the second sensor detects that the glass does not exist above the first positioning member.

10. The control method according to claim 8, characterized in that: The glass loading and unloading equipment further comprises a base and a guide rail, the sheet loading mechanism is mounted on the base, the base is movably mounted on the guide rail, the guide rail extends along the conveying direction of the glass, and a plurality of placement racks are fixedly mounted on one side of the guide rail along the sheet loading direction, the control method further comprises a sheet loading control step, the sheet loading control step comprises: The base is driven to move along the guide rail to the target placement rack, and the mechanical arm is driven to rotate toward the lower sheet direction until it contacts the glass on the placement rack, so that the mechanical arm connects the glass and rotates toward the upper sheet direction until the glass is placed on the sheet receiving surface.

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