Glass forward-grabbing and flat-stacking device and flat-stacking method

Abstract

The invention provides a glass forward-grabbing and flat-stacking device and a flat-stacking method, which are applied to a glass deep processing production line. The glass forward-grabbing and flat-stacking device comprises supporting frame mechanisms, a transverse moving mechanism, a connecting arm, a flat-stacking lifting mechanism and a glass grabbing mechanism, the supporting frame mechanisms are arranged on the two sides of the production line, and the transverse moving mechanism is arranged on the supporting frame mechanisms and located on the upper side of the production line; one end of the connecting arm is connected with the transverse moving mechanism, and the other end of the connecting arm is connected with the flat stacking lifting mechanism; the glass grabbing mechanism is arranged at the bottom end of the flat pile lifting mechanism and used for grabbing glass on the production line. According to the invention, unqualified glass can be automatically discharged and flatly stacked at a high speed, the transverse moving speed of the forward grabbing and flat stacking device can reach 1.3 m / s, the transverse moving precision can reach + / -1mm, the transverse moving range is wide, and the forward grabbing and flat stacking device can adapt to glass with different width dimensions.

Description

Technical Field

[0001] The invention relates to the technical field of glass deep processing production lines, in particular to a glass positive grasping and flattening device and a flattening method. Background Art

[0002] In the field of glass deep processing, the existing processing technology for unqualified glass on the glass production line is to process the defective glass by the plate-dropping process, which turns the unqualified glass into broken glass, wasting the production capacity of glass deep processing and reducing the output rate of glass. Another processing method is to manually unload the unqualified glass at the manual unloading station and then scrap it. This processing method is inefficient and has high labor costs. With the development of modern glass deep processing technology, some defects in the glass after deep processing can be repaired or the process can be adjusted to turn the glass with small defects into normal product glass, thereby reducing the waste of glass raw materials and glass deep processing resources. That is, unqualified products can be repaired twice to reach qualified products. Therefore, it is necessary to design an efficient glass unloading and stacking equipment. Summary of the invention

[0003] In view of the shortcomings of the prior art mentioned above, the purpose of the present invention is to provide a glass positive grasping and flattening device and a flattening method, which can remove unqualified glass on a glass deep processing production line from the production line, and perform secondary repair on the unqualified glass after stacking to make it a qualified product, thereby improving the output ratio and finished product rate of the glass deep processing production line.

[0004] In order to achieve the above-mentioned purpose and other related purposes, the present invention provides a glass positive grasping and flattening device, which is applied to a glass deep processing production line; the glass positive grasping and flattening device comprises a support frame mechanism, a transverse movement mechanism, a connecting arm, a flattening lifting mechanism, and a glass grasping mechanism, the support frame mechanism is arranged on both sides of the production line, the transverse movement mechanism is arranged on the support frame mechanism, and the transverse movement mechanism is located on the upper side of the production line; one end of the connecting arm is connected to the transverse movement mechanism, and the other end of the connecting arm is connected to the flattening lifting mechanism; the glass grasping mechanism is arranged at the bottom end of the flattening lifting mechanism, and is used to grasp the glass on the production line.

[0005] Preferably, the support frame mechanism includes a ground plate, a leg, and a crossbeam, wherein the ground plate is arranged at the bottom end of the leg and is used to fix the support frame mechanism on the ground; the crossbeam is arranged at the top end of the leg, and the transverse movement mechanism is arranged on the crossbeam.

[0006] Preferably, the transverse movement mechanism includes a transverse movement drive source, a transverse movement transmission assembly, a transverse movement conveyor belt, a transverse movement guide rail, and a transverse movement slider, wherein the transverse movement guide rail is arranged on the upper surface of the crossbeam, and the transverse movement slider is arranged on the transverse movement guide rail and can slide along the transverse movement guide rail; the transverse movement slider is fixedly connected to the connecting arm, and the transverse movement conveyor belt is fixedly connected to the connecting arm; the transverse movement drive source drives the transverse movement conveyor belt to move through the transverse movement transmission assembly.

[0007] Preferably, the transverse transmission assembly includes a driving pulley, a passive pulley, a passive pulley mounting bearing, and a passive pulley mounting spindle; the transverse drive source is arranged on an end face of one end of the beam, and the driving pulley is connected to the transverse drive source; the passive pulley mounting bearing is arranged on the other end face of the beam, the passive pulley mounting spindle is arranged in the passive pulley mounting bearing, and the passive pulley is arranged on the passive pulley mounting spindle; the transverse conveyor belt is wound around the driving pulley and the passive pulley.

[0008] Preferably, a first connecting plate is horizontally arranged on the bottom surface of one end of the connecting arm, and the first connecting plate is connected to the transverse sliding slider; a conveyor belt connecting plate is arranged on the upper side of the first connecting plate, and the conveyor belt connecting plate is connected to the transverse conveyor belt; a second connecting plate is vertically arranged on the side surface of the other end of the connecting arm, a second connecting plate through hole is provided on the second connecting plate, a connecting arm through hole is provided on the connecting arm, and the second connecting plate through hole is aligned with the second connecting arm through hole.

[0009] Preferably, the flat stack lifting mechanism includes a lifting mechanism support beam, a lifting drive source, a gear, a rack, a lifting guide rail, and a lifting slider, the lifting guide rail is arranged on the lifting mechanism support beam, the lifting slider is arranged on the lifting guide rail and can slide along the lifting guide rail; the lifting slider is fixedly connected to the second connecting plate; the lifting drive source is arranged on the connecting arm, and the output end of the lifting drive source passes through the through hole of the connecting arm and the through hole of the second connecting plate, and the gear is arranged on the output end of the lifting drive source; the rack is arranged on the lifting mechanism support beam, and the gear is meshed with the rack.

[0010] Preferably, the glass grabbing mechanism includes a frame, a frame mounting plate, a plurality of suction cup mounting frames, a plurality of suction cups, and a vacuum control system, wherein the frame mounting plate is fixed on the frame, and the frame mounting plate is connected to the flat stack lifting mechanism; a plurality of suction cup mounting frames are evenly distributed on the frame, and a plurality of suction cups are arranged on the suction cup mounting frames; and the vacuum control system is connected to the plurality of suction cups.

[0011] Preferably, the vacuum control system includes a vacuum generator and a plurality of pipes, the vacuum generator is connected to a compressed air pipeline, and a plurality of suction cups are connected to the vacuum generator through the plurality of pipes.

[0012] Preferably, the plurality of suction cups are divided into a plurality of groups, and the plurality of suction cups in the same group are controlled by the same vacuum generator; the plurality of groups of suction cups are used to grasp glass of different sizes.

[0013] In order to achieve the above purpose or other purposes, the present invention also discloses a glass positive grasping and flattening method, which adopts the above glass positive grasping and flattening device, and the steps are as follows:

[0014] S1: When the unqualified glass on the production line enters the grabbing range, the flat pile lifting mechanism drives the glass grabbing mechanism to descend, and the glass grabbing mechanism descends to the upper side of the unqualified glass to grab the unqualified glass, and drives the unqualified glass to rise a fixed distance; the transverse movement mechanism drives the connecting arm to move on the support frame mechanism, and the connecting arm drives the flat pile lifting mechanism to move, and then the glass grabbing mechanism drives the unqualified glass to move;

[0015] S2: When the glass grabbing mechanism drives the unqualified glass to move to the expected position, the stacking lifting mechanism descends, and the glass grabbing mechanism drives the unqualified glass to descend;

[0016] S3: The glass grabbing mechanism puts down the unqualified glass, and the unqualified glass is stacked at the expected position;

[0017] S4: The stacking lifting mechanism and the transverse movement mechanism are reset to drive the glass grabbing mechanism back to the upper side of the production line for the next cycle.

[0018] As described above, the glass positive grasping and stacking device and stacking method according to the present invention have the following beneficial effects:

[0019] The glass grabbing and stacking device and stacking method of the present invention can realize high-speed automation to discharge and stack unqualified glass. The lateral movement speed of the grabbing and stacking device can reach 1.3m / s, the lateral movement accuracy can reach ±1mm, and the lateral movement range is wide, which can adapt to glass of different widths and specifications. The stacking accuracy is high, and a large number of stacking strokes can be achieved. The glass grabbing and stacking device has a high degree of full automation, saves labor costs, has a fast operating speed, and improves process production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the glass positive grasping and flattening device of the present invention;

[0021] Figure 2 It is a structural schematic diagram of the support frame mechanism and the transverse movement mechanism in the glass positive grasping and flattening device of the present invention;

[0022] Figure 3 It is a schematic diagram of the structure of the connecting arm in the glass positive grasping and flattening stacking device of the present invention;

[0023] Figure 4It is a structural schematic diagram of the flattening and stacking lifting mechanism in the glass positive grasping and flattening device of the present invention;

[0024] Figure 5 The present invention is a schematic structural diagram of a glass grabbing mechanism of a flattening and stacking lifting mechanism in a glass positive grabbing and flattening device.

[0025] Description of reference numerals:

[0026] 1. Support frame mechanism; 101. Anchor plate; 102. Support leg; 103. Crossbeam; 2. Transverse mechanism; 201. Transverse driving source; 202. Transverse conveyor belt; 203. Transverse guide rail; 204. Transverse slider; 205. Passive pulley; 3. Connecting arm; 301. First connecting plate; 302. First connecting plate connecting hole; 303. Conveyor belt connecting plate; 304. Conveyor belt connecting plate connecting hole; 305. Second connecting plate; 306. Second connecting plate connecting hole; 307. Connecting arm through hole; 4. Flat stack lifting mechanism; 401. Lifting mechanism support beam; 402. Lifting guide rail; 403. Lifting slider; 404. Rack; 405. Lifting driving source; 5. Glass grabbing mechanism; 501. Frame; 502. Frame mounting plate; 503. Suction cup mounting frame; 504. Suction cup; 6. Production line. DETAILED DESCRIPTION

[0027] The following is a description of the implementation of the present invention by means of specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0028] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change of the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. The change or adjustment of their relative relationship should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0029] The present invention provides a glass positive grabbing and flattening device. For the convenience of description, the length extension direction of the production line 6 is defined as the front-to-back direction, the width extension direction of the production line 6 is the left-right direction, and the height extension direction of the production line 6 is the up-down direction. Figure 1A spatial rectangular coordinate system is established in , where the positive and negative directions of the X-axis are the right direction and the left direction respectively, the positive and negative directions of the Y-axis are the back direction and the front direction respectively, and the positive and negative directions of the Z-axis are the up direction and the down direction respectively.

[0030] like Figure 1-Figure 5 As shown, the present invention provides a glass positive grasping and flattening device, which is applied to a glass deep processing production line 6; the glass positive grasping and flattening device comprises a support frame mechanism 1, a transverse movement mechanism 2, a connecting arm 3, a flattening lifting mechanism 4, and a glass grasping mechanism 5, the support frame mechanism 1 is arranged on the left and right sides of the production line 6, the transverse movement mechanism 2 is arranged on the support frame mechanism 1, and the transverse movement mechanism 2 is located on the upper side of the production line 6; the rear end of the connecting arm 3 is connected to the transverse movement mechanism 2, and the front end of the connecting arm 3 is connected to the flattening lifting mechanism 4; the glass grasping mechanism 5 is arranged at the bottom end of the flattening lifting mechanism 4, and is used to grasp the glass on the production line 6.

[0031] The glass positive grabbing and flattening device of the present invention is that when the unqualified glass on the production line 6 moves to a predetermined position, the flattening lifting mechanism 4 drives the glass grabbing mechanism 5 to descend to grab the unqualified glass, and then the flattening lifting mechanism 4 rises again, driving the unqualified glass to be above the production line 6. Then the lateral movement mechanism 2 drives the flattening lifting mechanism 4 to move horizontally through the connecting arm 3, and then the glass grabbing mechanism 5 and the unqualified glass move together. When the unqualified glass is grabbed from the production line 6, the flattening lifting mechanism 4 drives the glass grabbing mechanism 5 to descend, and then the glass grabbing mechanism 5 puts down the unqualified glass, thereby realizing the positive grabbing and flattening of the glass.

[0032] Preferably, Figure 1 , Figure 2 As shown, the support frame mechanism 1 includes a base plate 101, a support leg 102, and a crossbeam 103. The base plate 101 is arranged at the bottom end of the support leg 102 to fix the support frame mechanism 1 on the ground; the crossbeam 103 is arranged at the top end of the support leg 102, and the transverse movement mechanism 2 is arranged on the crossbeam 103.

[0033] In this embodiment, the anchor plate 101 is made of steel plate, and a plurality of anchor plate connection holes are provided on the anchor plate 101 for inserting expansion bolts, so as to fix the anchor plate 101 on the ground. The legs 102 are made of profiles and steel plates welded together, and a reinforcing profile is also protruding on the side of the legs 102 to bear the eccentric load of the device through the offset torque. The crossbeam 103 is made of profiles and steel plates welded together and is a rigid support beam. The lower surface of the crossbeam 103 is welded and fixed to the top of the legs 102.

[0034] Preferably, Figure 1 , Figure 2As shown, the transverse mechanism 2 includes a transverse driving source 201, a transverse transmission assembly, a transverse conveyor belt 202, a transverse guide rail 203, and a transverse slider 204. The transverse guide rail 203 is arranged on the upper surface of the crossbeam 103 along the left-right direction. The transverse slider 204 is arranged on the transverse guide rail 203 and can slide left and right along the transverse guide rail 203. The transverse slider 204 is fixedly connected to the connecting arm 3, and the transverse conveyor belt 202 is fixedly connected to the connecting arm 3. The transverse driving source 201 drives the transverse conveyor belt 202 to move through the transverse transmission assembly. In this embodiment, the number of transverse guide rails 203 is two groups, which are used to provide guidance for the left-right movement of the connecting arm 3; the number of transverse sliders 204 is two, which are clamped on the transverse guide rail 203.

[0035] Furthermore, the transverse mechanism 2 also includes a transverse drive source reducer, the transverse drive source 201 adopts a servo motor, the transverse drive source reducer is fixed to the front end surface of the beam 103 through a reducer mounting plate, and the transverse drive source 201 is connected to the transverse transmission assembly through the transverse drive source reducer. The transverse drive source reducer is an RV reduction process.

[0036] Preferably, Figure 2 As shown, the transverse transmission assembly includes a driving pulley, a passive pulley 205, a passive pulley mounting bearing, and a passive pulley mounting mandrel, the transverse driving source 201 is arranged on the right end face of the cross beam 103, and the driving pulley is connected to the transverse driving source 201; the passive pulley mounting bearing is arranged on the left end face of the cross beam 103, the passive pulley mounting mandrel is arranged in the passive pulley mounting bearing, and the passive pulley 205 is arranged on the passive pulley mounting mandrel; the transverse conveyor belt 202 is wound around the driving pulley and the passive pulley 205. In this embodiment, the number of the passive pulley mounting bearings is two, and the passive pulley mounting mandrel is arranged between the two passive pulley mounting bearings.

[0037] Preferably, Figure 1 , Figure 3 As shown, a first connecting plate 301 is arranged in the horizontal direction on the bottom surface of the rear end of the connecting arm 3, and the first connecting plate 301 is connected to the transverse sliding slider 204; a conveyor belt connecting plate 303 is arranged on the upper side of the first connecting plate 301, and the conveyor belt connecting plate 303 is connected to the transverse conveyor belt 202; a second connecting plate 305 is arranged in the vertical direction on the left side surface of the front end of the connecting arm 3, a second connecting plate through hole is opened on the second connecting plate 305, and a connecting arm through hole 307 is opened on the connecting arm 3, and the second connecting plate through hole and the second connecting arm through hole 307 are aligned.

[0038] Furthermore, a plurality of first connecting plate connection holes 302 are provided on the first connecting plate 301, a transverse sliding block connection hole is provided on the transverse sliding block 204, the first connecting plate connection hole 302 and the transverse sliding block connection hole are aligned and a fixing bolt is passed through the two. There are two conveyor belt connection plates 303, which are respectively arranged on the left and right side surfaces of the connecting arm 3, and a plurality of conveyor belt connection plate connection holes 304 are provided on the conveyor belt connection plate 303, which are used to connect the transverse conveyor belt 202, so as to realize the fixed connection between the transverse conveyor belt 202 and the connecting arm 3. The connecting arm 3 is made of profiles and steel plates welded together.

[0039] Preferably, Figure 4 As shown, the flat stack lifting mechanism 4 includes a lifting mechanism support beam 401, a lifting drive source 405, a gear, a rack 404, a lifting guide rail 402, and a lifting slider 403. The lifting guide rail 402 is arranged on the right side surface of the lifting mechanism support beam 401, and the lifting slider 403 is arranged on the lifting guide rail 402 and can slide up and down along the lifting guide rail 402; the lifting slider 403 is fixedly connected to the left end surface of the second connecting plate 305; the lifting drive source 405 is arranged on the connecting arm 3, and the output end of the lifting drive source 405 passes through the connecting arm through hole 307 and the second connecting plate through hole, and the gear is arranged on the output end of the lifting drive source 405; the rack 404 is arranged on the lifting mechanism support beam 401, and the gear is meshed with the rack 404.

[0040] In this embodiment, there are two groups of lifting rails 402, which extend in the up-down direction, and the two groups of lifting rails 402 are arranged on the right side of the lifting mechanism support beam 401 in the front-back direction. There are two racks 404, which are respectively arranged between the two groups of lifting rails 402, so that when the gear rotates, the lifting mechanism support beam 401 will move up and down under the action of the racks 404. A plurality of second connecting plate connection holes 306 are provided on the second connecting plate 305, and a lifting slider connection hole is provided on the lifting slider 403. The second connecting plate connection hole 306 is aligned with the lifting slider connection hole, and a fixing bolt is passed between the two. The lifting mechanism support beam 401 is made of profiles and steel plates welded together.

[0041] Furthermore, the flat stack lifting mechanism 4 also includes a lifting drive source reducer, which adopts a planetary reducer. The lifting drive source reducer is installed on the right end face of the second connecting plate 305, and the output end of the lifting drive source reducer passes through the connecting arm through hole 307 and the second connecting plate through hole, and the gear is connected to the lifting drive source 405 through the output end of the lifting drive source reducer.

[0042] Preferably, Figure 5As shown, the glass grabbing mechanism 5 includes a frame 501, a frame mounting plate 502, a plurality of suction cup mounting frames 503, a plurality of suction cups 504, and a vacuum control system. The frame mounting plate 502 is fixed on the frame 501, and the frame mounting plate 502 is connected to the flat stack lifting mechanism 4; the plurality of suction cup mounting frames 503 are evenly distributed on the frame 501, and the plurality of suction cups 504 are arranged on the suction cup mounting frames 503; and the vacuum control system is connected to the plurality of suction cups 504.

[0043] In this embodiment, the frame 501 is made of aluminum profiles and mounting accessories, and is a frame plane. The frame mounting plate 502 is made of steel plate, and the frame mounting plate 502 is mounted on the top surface of the frame 501, and the bottom end of the lifting mechanism support beam 401 is welded to the frame mounting plate 502. The suction cup mounting frame 503 is made of steel plate welding and mounted on the bottom end of the frame 501.

[0044] Further, such as Figure 5 As shown, a plurality of suction cups 504 are divided into a plurality of groups, and a plurality of suction cups 504 in the same group are controlled by a same vacuum generator; the plurality of suction cups 504 are used to grasp glass of different sizes. In this embodiment, the suction cups 504 are divided into two groups, each group of suction cups 504 has four suction cups, and the two groups of suction cups 504 are divided into inner circle suction cups and outer circle suction cups, which can be used to grasp glass of different sizes. A plurality of suction cups 504 form a grasping plane.

[0045] Preferably, in this embodiment, the vacuum control system includes a vacuum generator and a plurality of pipes, the vacuum generator is connected to the compressed air pipeline, and a plurality of suction cups 504 are connected to the vacuum generator through the plurality of pipes. In this embodiment, when one group of suction cups 504 or one group of vacuum generators fails, the other groups of suction cups 504 can still grab unqualified glass, effectively avoiding the grabbing of unqualified glass caused by the failure of the suction cups 504, and realizing redundant control.

[0046] Preferably, in this embodiment, a control system is also included, and the control system is communicatively connected with the transverse driving source 201, the lifting driving source 405, and the vacuum generator, and is used to control the operation of the above-mentioned parts.

[0047] In order to achieve the above purpose or other purposes, the present invention also discloses a glass positive grasping and flattening method, which adopts the above glass positive grasping and flattening device, and the steps are as follows:

[0048] S1: According to the attached Figure 1-Figure 5 and descriptions of the above-mentioned parts, and produce and assemble the above-mentioned parts;

[0049] S2: After the unqualified glass enters the grabbing range through the transportation of production line 6, the control system starts the lifting drive source 405, and the lifting drive source 405 drives the gear to rotate through the lifting drive source reducer, and the gear is meshed with the rack 404, so that the lifting mechanism support beam 401 moves downward through the lifting slider 403 and the lifting guide rail 402, and the lifting mechanism support beam 401 drops above the unqualified glass. The control system starts the vacuum generator, and the vacuum generator generates a negative pressure vacuum through the pipeline and the suction cup 504 to absorb and grab the unqualified glass;

[0050] S3: The control system starts the reverse rotation of the lifting drive source 405. The lifting drive source 405 drives the gear to rotate through the lifting drive source reducer. The gear is meshed with the rack 404, so that the lifting mechanism support beam 401 is lifted. The lifting mechanism support beam 401 drives the unqualified glass to leave the production line 6 through the glass grabbing mechanism 5 and is located on the upper side of the production line 6.

[0051] S4: The control system starts the transverse driving source 201, and the transverse driving source 201 drives the driving pulley to rotate through the transverse driving source reducer. The driving pulley, the passive pulley 205, and the transverse conveyor belt 202 cooperate to drive the connecting arm 3. The connecting arm 3 moves to the right on the transverse guide rail 203 through the transverse slider 204 until the unqualified glass moves to the predetermined area on the right side of the production line 6;

[0052] S5: The control system starts the lifting drive source 405, and the lifting drive source 405 drives the gear to rotate through the lifting drive source reducer, and the gear is meshed with the rack 404, so that the lifting mechanism support beam 401 moves downward through the lifting slider 403 and the lifting guide rail 402 until the glass grabbing mechanism 5 and the unqualified glass are lowered to a predetermined height, and then the vacuum generator is turned off, and the unqualified glass falls off the glass grabbing mechanism 5 and is stacked flat on the glass rack at the expected position, thus completing the stacking of a piece of unqualified glass;

[0053] S6: The control system starts the lateral driving source 201 and the lifting driving source 405 to drive the glass grabbing mechanism 5 to reset and proceed to the next cycle.

[0054] Preferably, in step S2, the initial position of the glass grabbing mechanism 5 is above the production line 6. When unqualified glass passes through the production line 6 and enters the grabbing range, it will be sensed by the sensor, so that the unqualified glass will be stopped in the grabbing range of the production line 6. In addition, it can also be linked with the glass quality inspection equipment, and the glass will be grabbed only when there are defects.

[0055] Preferably, in step S3, the lifting mechanism support beam 401 drives the unqualified glass to rise to a certain height through the glass grabbing mechanism 5 and then stops, mainly to allow the unqualified glass to leave the production line 6.

[0056] The glass grabbing and stacking device of the present invention can realize high-speed automation to discharge and stack unqualified glass. The lateral movement speed of the grabbing and stacking device can reach 1.3m / s, the lateral movement accuracy can reach ±1mm, and the lateral movement range is wide, which can adapt to glass of different widths and specifications. The stacking accuracy is high, and a large number of stacking strokes can be achieved, which improves the output ratio and finished product rate of the glass deep processing production line, and solves the problems of high labor cost and low efficiency of manual unloading in the prior art.

[0057] The present invention can realize the conveyance of unqualified glass to the side of the production line 6, and stack the glass piece by piece on the glass support frame through the stacking system, thereby realizing the high-precision discharge and stacking process of unqualified glass.

[0058] Therefore, the present invention effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

[0059] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A glass positive grabbing and flattening device, applied to a glass deep processing production line (6); characterized in that: The glass grabbing and stacking device comprises a support frame mechanism (1), a transverse movement mechanism (2), a connecting arm (3), a stacking lifting mechanism (4), and a glass grabbing mechanism (5); the support frame mechanism (1) is arranged on both sides of a production line (6); the transverse movement mechanism (2) is arranged on the support frame mechanism (1), and the transverse movement mechanism (2) is located on the upper side of the production line (6); one end of the connecting arm (3) is connected to the transverse movement mechanism (2), and the other end of the connecting arm (3) is connected to the stacking lifting mechanism (4); the glass grabbing mechanism (5) is arranged at the bottom end of the stacking lifting mechanism (4) and is used to grab the glass on the production line (6).

2. The glass positive grasping and stacking device according to claim 1, characterized in that: The support frame mechanism (1) comprises a base plate (101), a support leg (102), and a crossbeam (103); the base plate (101) is arranged at the bottom end of the support leg (102) and is used to fix the support frame mechanism (1) on the ground; the crossbeam (103) is arranged at the top end of the support leg (102), and the transverse movement mechanism (2) is arranged on the crossbeam (103).

3. The glass positive grasping and stacking device according to claim 2, characterized in that: The transverse movement mechanism (2) comprises a transverse movement driving source (201), a transverse movement transmission assembly, a transverse movement conveyor belt (202), a transverse movement guide rail (203), and a transverse movement slider (204); the transverse movement guide rail (203) is arranged on the upper surface of the crossbeam (103); the transverse movement slider (204) is arranged on the transverse movement guide rail (203) and can slide along the transverse movement guide rail (203); the transverse movement slider (204) is fixedly connected to the connecting arm (3); the transverse movement conveyor belt (202) is fixedly connected to the connecting arm (3); the transverse movement driving source (201) drives the transverse movement conveyor belt (202) to move through the transverse movement transmission assembly.

4. The glass positive grasping and stacking device according to claim 3, characterized in that: The transverse transmission assembly comprises a driving pulley, a passive pulley (205), a passive pulley mounting bearing, and a passive pulley mounting spindle; the transverse driving source (201) is arranged on an end surface of one end of the crossbeam (103), and the driving pulley is connected to the transverse driving source (201); the passive pulley mounting bearing is arranged on the other end surface of the crossbeam (103), the passive pulley mounting spindle is arranged in the passive pulley mounting bearing, and the passive pulley (205) is arranged on the passive pulley mounting spindle; the transverse conveyor belt (202) is wound around the driving pulley and the passive pulley (205).

5. The glass positive grasping and stacking device according to claim 3, characterized in that: A first connecting plate (301) is arranged on the bottom surface of one end of the connecting arm (3) in the horizontal direction, and the first connecting plate (301) is connected to the transverse sliding block (204); a conveyor belt connecting plate (303) is arranged on the upper side of the first connecting plate (301), and the conveyor belt connecting plate (303) is connected to the transverse conveyor belt (202); A second connecting plate (305) is arranged on the side surface of the other end of the connecting arm (3) in the vertical direction, a second connecting plate through hole is provided on the second connecting plate (305), a connecting arm through hole (307) is provided on the connecting arm (3), and the second connecting plate through hole is aligned with the second connecting arm through hole (307).

6. The glass positive grasping and stacking device according to claim 5, characterized in that: The stacking lifting mechanism (4) comprises a lifting mechanism support beam (401), a lifting drive source (405), a gear, a rack (404), a lifting guide rail (402), and a lifting slider (403); the lifting guide rail (402) is arranged on the lifting mechanism support beam (401); the lifting slider (403) is arranged on the lifting guide rail (402) and can slide along the lifting guide rail (402); the lifting slider (403) is fixedly connected to the second connecting plate (305); the lifting drive source (405) is arranged on the connecting arm (3), and the output end of the lifting drive source (405) passes through the connecting arm through hole (307) and the second connecting plate through hole, and the gear is arranged on the output end of the lifting drive source (405); the rack (404) is arranged on the lifting mechanism support beam (401), and the gear is meshed with the rack (404).

7. The glass positive grasping and stacking device according to claim 1, characterized in that: The glass grabbing mechanism (5) comprises a frame (501), a frame mounting plate (502), a plurality of suction cup mounting frames (503), a plurality of suction cups (504), and a vacuum control system. The frame mounting plate (502) is fixed on the frame (501), and the frame mounting plate (502) is connected to the flat stack lifting mechanism (4); the plurality of suction cup mounting frames (503) are evenly distributed on the frame (501), and the plurality of suction cups (504) are arranged on the suction cup mounting frames (503); and the vacuum control system is connected to the plurality of suction cups (504).

8. The glass positive grasping and stacking device according to claim 7, characterized in that: The vacuum control system comprises a vacuum generator and a plurality of pipelines. The vacuum generator is connected to a compressed air pipeline, and a plurality of suction cups (504) are connected to the vacuum generator through the plurality of pipelines.

9. The glass positive grasping and stacking device according to claim 7, characterized in that: The plurality of suction cups (504) are divided into a plurality of groups, and the plurality of suction cups (504) in the same group are controlled by the same vacuum generator; the plurality of groups of suction cups (504) are used to grasp glass of different sizes and specifications.

10. A method for stacking glass by grasping and flattening, using the glass grasping and flattening device according to any one of claims 1 to 9, characterized in that: Here are the steps: S1: When unqualified glass on the production line (6) enters the grabbing range, the stacking lifting mechanism (4) drives the glass grabbing mechanism (5) to descend, and the glass grabbing mechanism (5) descends to the upper side of the unqualified glass to grab the unqualified glass, and drives the unqualified glass to rise a fixed distance; the transverse movement mechanism (2) drives the connecting arm (3) to move on the support frame mechanism (1), and the connecting arm (3) drives the stacking lifting mechanism (4) to move, and then the glass grabbing mechanism (5) drives the unqualified glass to move; S2: When the glass grabbing mechanism (5) drives the unqualified glass to move to the expected position, the stacking lifting mechanism (4) descends, and the glass grabbing mechanism (5) drives the unqualified glass to descend; S3: The glass grabbing mechanism (5) puts down the unqualified glass, and the unqualified glass is stacked at the expected position; S4: The stacking and lifting mechanism (4) and the transverse movement mechanism (2) are reset to drive the glass grabbing mechanism (5) back to the upper side of the production line (6) to carry out the next cycle.

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