Glass lamination equipment and control method thereof

Abstract

Glass lamination equipment comprises an incoming material connection unit, a scanning feeding unit, a shock insulator preparation unit, a carrying unit, a lamination unit and a cache unit, and the incoming material connection unit comprises a glass feeding module and a connection monitoring module; the scanning feeding unit comprises a bottom plate supply module, a material grabbing module for grabbing glass or a bottom plate, a scanning recognition module for judging the type and condition of the grabbed material, and a primary positioning module for positioning the recognized qualified material. The isolation pad preparation unit comprises an isolation pad feeding module, an isolation pad grabbing module and a secondary positioning module for positioning isolation pads; the lamination unit comprises a lamination receiving module for receiving the materials from the carrying unit, a lamination positioning and arranging module for guiding the stacked materials, and a lamination feeding control module for controlling the carrying unit to alternately grab the materials from the primary positioning module and the secondary positioning module and counting the glass; and the lamination pressing module is used for pressing the top of the stacked material when the lamination height reaches a preset value. The invention further discloses a control method of the glass lamination equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile phone rear cover glass processing, and in particular to a glass lamination device and a control method thereof. Background Art

[0002] For the processing of the back cover glass of mobile phones, before the edge grinding process of the back cover glass, the cut glass pieces need to be cleaned to remove the glass debris on the surface of the glass pieces to prevent the glass debris from interfering with the normal glass edge grinding process; the cleaned glass pieces also need to be stacked so that multiple pieces of glass can be edged in batches at one time, thereby improving the processing effect of the back cover glass. At present, the industry mainly stacks the cleaned glass and spacers alternately by hand to achieve glass lamination. After the glass and spacers are stacked, a special comb is required to adjust the flatness of the glass and spacers. Affected by the differences in manual skills and working conditions, it is difficult to ensure the consistency of the position of spacers of different heights after stacking. As the stacking height of the glass pieces increases, the offset of the spacer position will cause the glass pieces to shift, thereby increasing the overall flatness difference of the glass section (side), affecting the yield rate of the edge grinding process. Furthermore, when the spacer position is offset, as the number of glass stacks increases, the friction between the glass and the spacer will increase linearly, causing the stability of the stacked glass to decrease, and the glass is prone to slipping or falling, causing the glass to break and easily cause safety accidents. In addition, as the stacking time increases, workers are prone to fatigue, resulting in insufficient stacking efficiency, a high error rate, and a high cost for manual stacking, which in turn increases the processing cost of the mobile phone back cover glass. Summary of the invention

[0003] Based on this, it is necessary to provide a glass lamination device and a control method thereof that can adjust the glass position in real time, improve the overall flatness of the glass section and the glass stacking stability and lamination efficiency, and reduce the lamination cost in order to address the above-mentioned deficiencies.

[0004] A glass lamination device, comprising:

[0005] An incoming material docking unit, the incoming material docking unit comprising a glass loading module for receiving and transmitting incoming glass outputted by the glass washing machine, and a docking monitoring module connected to the glass washing machine for monitoring the incoming material feeding status on the glass loading module, the docking monitoring module sending a start / stop signal to the glass washing machine according to the incoming material feeding status;

[0006] A scanning loading unit, the scanning loading unit comprising a bottom plate feeding module for providing bottom plates to be stacked, a material grabbing module for grabbing glass or bottom plates from a glass loading module or a bottom plate feeding module, a scanning recognition module for identifying and judging the type and condition of materials on the material grabbing module, and a primary positioning module for receiving qualified materials identified by the scanning recognition module on the material grabbing module and pre-positioning the materials;

[0007] A spacer preparation unit, the spacer preparation unit comprising a spacer feeding module for providing spacers to be stacked, a spacer grabbing module for grabbing spacers from the spacer feeding module, and a secondary positioning module for positioning the spacers grabbed by the spacer grabbing module;

[0008] A handling unit, the handling unit is used to alternately grab and move materials from the primary positioning module and the secondary positioning module;

[0009] The stacking unit comprises a stacking receiving module for receiving materials from the conveying unit, a stacking positioning and sorting module for guiding and pushing the stacked materials in the stacking receiving module to adjust the flatness of the cut surface of the stacked glass when each piece of material is received by the stacking receiving module, a stacking feeding control module electrically connected to the conveying unit to control the conveying unit to alternately grab materials from the primary positioning module and the secondary positioning module and transport them to the stacking receiving module, and a stacking pressing module electrically connected to the stacking feeding control module and used to press the top of the stacked materials when the stacking height in the stacking receiving module reaches a preset value, the stacking feeding control module counts the glass in the stacking materials when the conveying unit transports the materials to the stacking receiving module, and a bottom plate is respectively provided on the top and bottom of the stacking materials pressed by the stacking pressing module, and glass and spacers are alternately stacked between the two bottom plates;

[0010] A cache unit is used to store materials that are identified as unqualified by the scanning and identification module.

[0011] In one embodiment, the glass loading module includes a first conveying mechanism for receiving incoming glass materials and a second conveying mechanism for receiving materials output by the first conveying mechanism. The conveying speed of the first conveying mechanism is lower than that of the second conveying mechanism.

[0012] In one embodiment, the first transport mechanism includes a first transport belt for receiving and transporting glass, and a first stepper motor for driving the first transport belt to rotate; the second transport mechanism includes a second transport belt for receiving and transporting glass, and a second stepper motor for driving the second transport belt to rotate; the stepping speed of the second stepper motor is twice the stepping speed of the first stepper motor.

[0013] In one embodiment, the base plate feeding module includes a first material bin for accommodating the base plate and a first lifting servo module for driving the first material bin to vertically load materials; the material grabbing module is a four-axis robot; the one-time positioning module includes a first supporting platform for receiving and clamping the glass or base plate and a third stepper motor for driving the first supporting platform to rotate to adjust the angle of the glass or the base plate.

[0014] In one of the embodiments, the gasket feeding module includes a second silo for accommodating gaskets and a second lifting servo module for driving the second silo to vertically load materials; the gasket grabbing module includes a pneumatic clamp and an RZ drive mechanism that can drive the pneumatic clamp to rotate in a horizontal plane and to lift and lower in a vertical direction; the secondary positioning module includes a second supporting platform for receiving the gasket, a first push plate for pushing the gasket on the second supporting platform to guide the gasket, and a first cylinder for driving the first push plate to move.

[0015] In one embodiment, the transport unit includes a vacuum suction cup for grasping glass or a base plate or a spacer, and an XZ servo module for driving the vacuum suction cup to move horizontally and lift; the XZ servo module includes an X-axis guide rail arranged in a horizontal direction, a mounting bracket slidably set on the X-axis guide rail, a first driving member driving the mounting bracket to slide on the X-axis guide rail, a Z-axis guide rail fixed on the mounting bracket, a slider or a slide slidably set on the Z-axis guide rail, and a second driving member driving the slider or the slide to lift and lower on the Z-axis guide rail, and the vacuum suction cup is fixed on the slider or the slide.

[0016] In one of the embodiments, the stacking material receiving module includes a stacking bin for accommodating materials so that the materials can be stacked, and a third lifting servo module for driving the stacking bin to rise and fall; the stacking positioning and sorting module includes a second push plate for pushing the side of the stacked material to adjust the flatness of the stacked glass cross-section, and a second cylinder for driving the second push plate to move.

[0017] In one of the embodiments, the buffer unit includes a waste glass conveying mechanism for receiving and transporting unqualified glass, and a waste glass blocking positioning mechanism for limiting the moving position of the unqualified glass on the waste glass conveying mechanism.

[0018] The present invention also discloses a control method applied to the above-mentioned glass lamination equipment, comprising the following steps:

[0019] S1. The glass feeding module receives the incoming materials from the glass feeding module, and the connecting monitoring module monitors the feeding status of the incoming materials in real time;

[0020] S2, the material grabbing module grabs the glass or bottom plate from the glass loading module or the bottom plate feeding module, the scanning and identification module identifies and determines the type and condition of the material on the material grabbing module, and places the bottom plate or the scanned qualified glass on the primary positioning module for pre-positioning;

[0021] S3, the spacer grabbing module grabs the spacer and places the spacer on the secondary positioning module for positioning;

[0022] S4, the handling unit alternately grabs materials from the primary positioning module and the secondary positioning module, and stacks the materials on the stacking receiving module, and the stacking feeding control module records the stacking times in real time and counts the glass sheets placed on the stacking receiving module;

[0023] S5, the stacking positioning and sorting module guides and pushes the stacked materials in the stacking receiving module each time a piece of material is received by the stacking receiving module, so as to adjust the flatness of the stacked glass section;

[0024] S6. The stacking pressing module presses the top of the stacked material when the stacking height in the stacking receiving module reaches a preset value.

[0025] In one embodiment, step S4 further includes:

[0026] S41, the stacking material control module determines whether the current stacking times is zero, if so, the material grabbing module grabs the bottom plate from the bottom plate feeding module and identifies the position, the stacking material control module controls the handling unit to grab the bottom plate from the primary positioning module and put it into the stacking material receiving module, otherwise, enter step S42;

[0027] S42, the stacking material control module controls the handling unit to alternately grab the spacer and the glass from the primary positioning module and the secondary positioning module, record the number of stacked glasses, and determine in real time whether the number of stacked glasses reaches the set value of the number of stacked glasses. If not, repeat step S42. If yes, proceed to step S43.

[0028] S43, the stacking material feeding control module controls the handling unit to grab the spacer and the bottom plate from the secondary positioning module and the primary positioning module in turn and stack them in the stacking material receiving module, and the stacking pressing module presses the top of the stacked material after the bottom plate is placed in the stacking material receiving module;

[0029] S44, the stacking material control module clears the recorded stacking times and the number of stacked glasses.

[0030] The glass stacking equipment and control method thereof of the present invention perform primary positioning of the bottom plate and the glass and secondary positioning of the spacer, so that the glass can be aligned with the spacer and the bottom plate when stacked. The stacked material is guided by the stacking positioning and sorting module, and the position of the stacked glass can be adjusted to improve the flatness of the cut surface of the stacked glass, thereby avoiding the problem of insufficient yield rate in the edge grinding process caused by lateral shift of the glass, and improving the stability of the stacked glass to prevent glass breakage or safety accidents caused by glass sliding or falling. It replaces manual stacking, improves stacking efficiency, and reduces the cost of glass stacking. Compared with the manual stacking method, its error rate is significantly reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1A top view of a glass lamination device according to an embodiment of the present invention;

[0032] Figure 2 A schematic diagram of the three-dimensional structure of a glass lamination device in one embodiment of the present invention;

[0033] Figure 3 for Figure 2 A schematic diagram of a partially enlarged structure of part A in the illustrated embodiment;

[0034] Figure 4 for Figure 2 A schematic diagram of a partially enlarged structure of part B in the illustrated embodiment;

[0035] Figure 5 The figure is a flow chart of a method for controlling a glass lamination device in one embodiment of the present invention. DETAILED DESCRIPTION

[0036] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0037] Please combine Figure 1-4 The present invention discloses a glass laminating device that can adjust the position of glass in real time, improve the overall flatness of the glass section, the stability of glass stacking and the laminating efficiency, and reduce the laminating cost. The glass laminating device is arranged between a glass washing machine and a glass edge grinding device, and is used to stack the glass before it is sent to the edge grinding process after cleaning, so as to process glass sheets in batches. In the glass stacking process, in order to avoid the problem of adjacent glass sticking together due to the large surface tension of the washing water remaining on the glass surface, a spacer needs to be arranged between two adjacent glass sheets to reduce the difficulty of separating the glass in subsequent operations. At the same time, after the glass is stacked, a bottom plate (i.e., an upper bottom plate and a lower bottom plate) needs to be arranged at the top and bottom of the stacking structure, so that in the stacking structure transfer or edge grinding process, the problem of glass scratching or breakage caused by direct contact and extrusion of the glass with external objects can be avoided, thereby protecting the glass.

[0038] Specifically, in the present embodiment, the glass stacking equipment includes a material docking unit 100, a scanning and loading unit 200, a spacer preparation unit 300, a transport unit 400, a stacking unit 500 and a buffer unit 600, wherein the material docking unit 100 includes a glass loading module 110 for receiving and transmitting the glass material output by the glass washing machine, and a docking monitoring module 120 which is connected to the glass washing machine for communicating and monitoring the feeding status of the material on the glass loading module 110. The docking monitoring module 120 sends a start and stop signal to the glass washing machine according to the feeding status of the material. In this way, when there is glass on the glass loading module 110, the docking monitoring module 120 sends a signal to the glass washing machine, and the glass washing machine immediately stops feeding the material to the glass stacking equipment to avoid the problem of difficulty in retrieving glass due to multiple pieces of glass stacked together on the glass loading module 110. The scanning and loading unit 200 includes a bottom plate feeding module 210 for providing bottom plates to be stacked, a material grabbing module 220 for grabbing glass or bottom plates from the glass loading module 110 or the bottom plate feeding module 210, a scanning and identifying module 230 for identifying and judging the type and condition of materials on the material grabbing module 220, and a primary positioning module 240 for receiving materials on the material grabbing module 220 that are identified as qualified by the scanning and identifying module 230 and pre-positioning the materials. In this embodiment, the scanning and identifying module 230 identifies the type and condition of materials, including identifying the type of materials as glass or bottom plates, and further identifies the surface state of the glass when the material is identified as glass. When there are defects such as breakage or scratches on the glass surface, the scanning and identifying module 230 determines that the glass is unqualified, otherwise, the glass is determined to be qualified and is used as a material to be stacked. The primary positioning module 240 is used to pre-position the bottom plate and glass to be stacked, and to guide the bottom plate or glass before sending them to the stacking operation, so that the bottom plate and the glass can be sent to the stacking station in the same posture, so as to avoid the problem of stacking structure collapse during the glass stacking process caused by the different feeding postures of the bottom plate and the glass, thereby ensuring the normal progress of the glass stacking operation. In addition, by pre-positioning the bottom plate and the glass, the offset between adjacent glasses after stacking can be reduced, thereby reducing the difficulty of positioning and arranging the glass during the glass stacking process.

[0039] The spacer preparation unit 300 includes a spacer feeding module 310 for providing spacers to be stacked, a spacer grabbing module 320 for grabbing spacers from the spacer feeding module 310, and a secondary positioning module 330 for positioning the spacers grabbed by the spacer grabbing module 320. In this embodiment, the spacers are positioned by the secondary positioning module 330, so that the spacers can always be sent to the stacking station in the same posture, thereby improving the consistency of the spacer position between two adjacent pieces of glass when the glass is stacked, reducing the deviation of the relative position of the spacers, and the overall section error of the spacers after stacking is <1.0mm. By adjusting the position and angle of the primary positioning module 240 and the secondary positioning module 330, the spacers can be aligned with the glass and the bottom plate during the stacking process, further solving the problem of glass side shift caused by the position deviation between the spacers and the glass. The transport unit 400 is used to alternately grab and move materials from the primary positioning module 240 and the secondary positioning module 330 , that is, the transport unit 400 is used to transport and stack three different materials, namely, glass, base plate and spacer, to the stacking station. The stacking unit 500 includes a stacking receiving module 510 for receiving materials from the conveying unit 400, a stacking positioning and sorting module 520 for guiding and pushing the stacked materials in the stacking receiving module 510 to adjust the flatness of the cross-section (side) of the stacked glass each time the stacking receiving module 510 receives a piece of material, a stacking loading control module electrically connected to the conveying unit 400 to control the conveying unit 400 to alternately grab materials from the primary positioning module 240 and the secondary positioning module 330 and transport them to the stacking receiving module 510, and a stacking pressing module 530 electrically connected to the stacking loading control module and used to press the top of the stacked material when the stack height in the stacking receiving module 510 reaches a preset value. The stacking loading control module counts the glass in the stacking material when the conveying unit 400 transports the material to the stacking receiving module 510. A bottom plate is respectively provided on the top and bottom of the stacking material pressed by the stacking pressing module 530, and glass and spacers are alternately stacked between the two bottom plates. In this embodiment, the transport unit 400 grabs the material and places it piece by piece on the stacking receiving module 510, so as to realize the stacking of the material in the stacking receiving module 510; when the transport unit 400 puts each piece of material into the stacking receiving module 510, the stacking positioning and sorting module 520 corrects the stacking structure according to the preset reference surface, that is, the stacking positioning and sorting module 520 pushes the side of the stacking structure according to the preset stroke, so that the side of the stacking structure is a vertical surface, so as to achieve the purpose of adjusting the flatness of the stacked glass cut surface, thereby eliminating the material offset problem caused by the displacement of the material when the material is separated from the transport unit 400 during the stacking process. In other words, the stacking positioning and sorting module 520 is used to further correct the material after being corrected and stacked by the primary positioning module 240 and the secondary positioning module 330, so as to ensure the stability of the stacking of the glass, the bottom plate and the spacer, and the flatness of the stacked glass cut surface.The stacking control module is used to control the stacking order of materials, the number of glass stacks, and the material stacking height, so that a bottom plate is set at the top and bottom of the stacked structure, and the spacers and glass are alternately stacked between the two bottom plates. In this embodiment, the preset value H of the stacking height = the set value of the number of glass stacks Nx (glass thickness h1 + spacer thickness h2) + spacer thickness h2 + 2x bottom plate thickness h3. The cache unit 600 is used to place materials that are identified as unqualified by the scanning and identification module 230, that is, the cache unit 600 is used to store glass with defects such as scratches or breakage on the surface, so that the unqualified glass can be centrally processed later.

[0040] The above-mentioned glass stacking equipment positions the base plate and the glass once and positions the spacer twice, so that the glass can be aligned when stacked with the spacer and the base plate. The stacked material is guided by the stacking positioning and sorting module 520, and the position of the stacked glass can be adjusted to improve the flatness of the cut surface of the stacked glass, avoid the problem of insufficient yield in the edge grinding process caused by lateral shift of the glass, and improve the stability of the stacked glass to prevent glass breakage or safety accidents caused by glass sliding or falling. It replaces manual stacking, improves stacking efficiency, and reduces the cost of glass stacking. Compared with manual stacking methods, its error rate is significantly reduced.

[0041] It should be noted that in this solution, the glass lamination equipment includes two production lines arranged relatively to each other, each production line includes an independent scanning and loading unit 200, a spacer preparation unit 300, a handling unit 400, a lamination unit 500 and a buffer unit 600, and the two production lines are loaded and the incoming material feeding status is monitored through the same incoming material docking unit 100, so that the two production lines work in parallel, which is conducive to improving the glass lamination efficiency. In this embodiment, the glass loading module 110 includes a first material transport mechanism for receiving the incoming glass material and a second material transport mechanism for receiving the material output by the first material transport mechanism, and the material transport speed of the first material transport mechanism is less than the material transport speed of the second material transport mechanism. The first conveying mechanism and the second conveying mechanism are arranged side by side, wherein the first conveying mechanism is used to supply cleaned glass to one of the production lines, and the second conveying mechanism is used to supply cleaned glass to the other production line. By making the conveying speed of the first conveying mechanism lower than the conveying speed of the second conveying mechanism, after the two pieces of glass successively enter the glass loading module 110, after the first piece of glass enters the second conveying mechanism, the latter piece of glass still stays on the first conveying mechanism. The moving speeds of the two pieces of glass are different, thereby increasing the distance between the two products, so that the material grabbing modules 220 on the two production lines grab the glass from the first conveying mechanism and the second conveying mechanism respectively.

[0042] Furthermore, in the present embodiment, the first transport mechanism includes a first transport belt 111 for receiving and transporting glass, and a first stepper motor 112 for driving the first transport belt 111 to rotate, and the second transport mechanism includes a second transport belt 113 for receiving and transporting glass, and a second stepper motor 114 for driving the second transport belt 113 to rotate, and the stepping speed of the second stepper motor 114 is twice the stepping speed of the first stepper motor 112. In other embodiments, the first transport mechanism may also include a first speed regulating gear set disposed between the first stepper motor 112 and the first transport belt 111 to adjust the rotation speed of the first transport belt 111, and correspondingly, the second transport mechanism may also include a second speed regulating gear set disposed between the second stepper motor 114 and the second transport belt 113 to adjust the rotation speed of the second transport belt 113, so as to accurately control the moving speed of the glass on the glass loading module 110. In addition, a positioning cylinder is respectively arranged on the side of the first conveying mechanism and the second conveying mechanism, and a blocking cylinder is respectively arranged above or on the side of the first conveying mechanism and the second conveying mechanism, and baffles are respectively arranged at the telescopic ends of the positioning cylinder and the blocking cylinder, and the glass on the first conveying mechanism or the second conveying mechanism is pushed by the baffles. In this way, the positioning cylinder and the blocking cylinder work together to realize the positioning of the glass on the first conveying mechanism and the second conveying mechanism, so as to accurately grasp the glass.

[0043] In one embodiment, the docking monitoring module 120 is an infrared sensor or a laser beam sensor, and the docking monitoring module 120 is connected to the glass cleaning machine through an IO interface. When the docking monitoring module 120 detects that there is material on the first material transport mechanism, the docking monitoring module 120 sends a first signal to the glass cleaning machine to make the glass cleaning machine suspend outputting glass; when the docking monitoring module 120 detects that there is no material on the first material transport mechanism, that is, it is assumed that there is no material on the second material transport mechanism at the same time, the docking monitoring module 120 sends a second signal to the glass cleaning machine to make the glass cleaning machine continue to output glass, so that the problem of glass stacking on the first material transport mechanism caused by the continuous output of glass by the glass cleaning machine can be avoided.

[0044] The bottom plate feeding module 210 includes a first material bin 211 for accommodating the bottom plate, and a first lifting servo module 212 for driving the first material bin 211 to vertically load materials. The first material bin 211 can be a rotary material bin, and the first lifting servo module 212 includes a first servo motor, a first screw rod that is connected to the output shaft of the first servo motor and rotates coaxially, and a first nut that is rotatably sleeved on the first screw rod. The first material bin 211 is fixed on the first nut to follow the first nut to synchronously lift and lower along the length direction of the first screw rod, so as to raise the height of the first material bin 211 when the number of bottom plates in the first material bin 211 decreases and the material level decreases, thereby adapting to the grabbing height of the material grabbing module 220. In other embodiments, the first lifting servo module 212 can also be replaced by a lifting mechanism such as a cylinder or a hydraulic cylinder, which will not be repeated here. The material grabbing module 220 is a four-axis manipulator, and the gripping part of the four-axis manipulator is a pneumatic gripper or an electric gripper. Preferably, the material grabbing module 220 uses a four-axis robot of model SCARA. The scanning and identifying module 230 is a fixed machine vision system electrically connected to the control mechanism of the material grabbing module 220, in which the image information of the bottom plate and the glass, as well as the image information of the defect characteristics of the glass are pre-stored. After the scanning and identifying module 230 acquires the image information of the bottom plate or the glass, the acquired information is matched with the pre-stored information, and the identification information is output to the control mechanism of the material grabbing module 220 according to the matching result, so that the control mechanism controls the material grabbing module 220 to place the material in the primary positioning module 240 or the cache unit 600. The primary positioning module 240 includes a first support platform 241 for receiving and clamping the glass or bottom plate, and a third stepping motor 242 for driving the first support platform 241 to rotate to adjust the angle of the glass or bottom plate. Preferably, the first support platform 241 is raised on all sides to form an annular baffle, which encloses a cavity for clamping glass or a base plate. When the glass or the base plate is placed in the cavity, as the third stepper motor 242 works, the first support platform 241 will drive the glass or the base plate to rotate and guide, so that the glass and the base plate can always be loaded into the stacking station in the same posture.

[0045] The spacer preparation unit 300 is used to provide spacers and position the spacers. The spacer feeding module 310 includes a second material bin 311 for accommodating spacers and a second lifting servo module 312 for driving the second material bin 311 to vertically load materials. The second material bin 311 can be a rotary material bin, and the second lifting servo module 312 includes a second servo motor, a second screw rod that is connected to the output shaft of the second servo motor and rotates coaxially, and a second nut that is rotatably sleeved on the second screw rod. The second material bin 311 is fixed on the second nut to follow the second nut to rise and fall synchronously along the length direction of the second screw rod, so as to raise the height of the second material bin 311 when the number of spacers in the second material bin 311 decreases and the material level decreases, thereby adapting to the grabbing height of the spacer grabbing module 320. In other embodiments, the second lifting servo module 312 can also be replaced by a lifting mechanism such as a cylinder or a hydraulic cylinder, which will not be repeated here. The spacer grabbing module 320 includes a pneumatic clamp and an RZ driving mechanism that can drive the pneumatic clamp to rotate in the horizontal plane and can be lifted in the vertical direction. The RZ driving mechanism includes a base, a motor located below the base and driving the base to rotate, and a lifting cylinder fixed to the upper surface of the base. The pneumatic clamp is fixed to the telescopic end of the lifting cylinder. In this way, the pneumatic clamp can be rotated in the horizontal plane by the motor, and the pneumatic clamp can be lifted in the vertical direction by the lifting cylinder, so that the spacer grabbing module 320 can grab the spacer and lift it, and when it rotates to the top of the secondary positioning module 330, the spacer is lowered into the secondary positioning module 330. The secondary positioning module 330 includes a second support platform 331 for receiving the spacer, a first push plate 332 for pushing the spacer on the second support platform 331 to align the spacer, and a first cylinder driving the first push plate 332 to move. In this embodiment, the spacer is pre-positioned by the second supporting platform 331. After the spacer is placed on the second supporting platform 331, the spacer is guided by the first cylinder to eliminate the spacer offset caused by sliding or shaking of the pneumatic clamp during the lowering process of the spacer, so that the spacer can always be loaded into the stacking station in the same posture.

[0046] The transport unit 400 is used to move the materials to be stacked to the stacking station to achieve the stacking of the materials at the stacking station. The transport unit 400 includes a vacuum suction cup 410 for grabbing glass or a bottom plate or a spacer, and an XZ servo module for driving the vacuum suction cup 410 to move horizontally and lift up and down; the XZ servo module includes an X-axis guide rail 420 arranged in a horizontal direction, a mounting bracket 430 slidably arranged on the X-axis guide rail 420, a first driving member driving the mounting bracket 430 to slide on the X-axis guide rail 420, a Z-axis guide rail 440 fixed on the mounting bracket 430, a slider or a carriage 450 slidably arranged on the Z-axis guide rail 440, and a second driving member driving the slider or the carriage 450 to lift and lower on the Z-axis guide rail 440, and the vacuum suction cup 410 is fixed on the slider or the carriage 450. It should be noted that, in this embodiment, the X-axis guide rail 420 spans between the primary positioning module 240, the secondary positioning module 330 and the stacking material receiving module 510, the primary positioning module 240, the secondary positioning module 330 and the stacking material receiving module 510 are arranged on the same straight line, and the stacking material receiving module 510 is located between the primary positioning module 240 and the secondary positioning module 330. The first driving member is a cylinder or a driving motor. When the first driving member is a driving motor, the driving motor is connected to the mounting bracket 430 through a screw nut mechanism; similarly, the second driving member is a cylinder or a driving motor. When the second driving member is a driving motor, the driving motor is connected to the slider or carriage 450 through a screw nut mechanism. During the stacking process, the first driving member drives the mounting bracket 430 to move, so that the vacuum suction cup 410 can be moved between the primary positioning module 240, the secondary positioning module 330 and the stacking receiving module 510. The second driving member drives the slider or carriage 450 to rise and fall, so that the vacuum suction cup 410 can lift or lower the base plate, glass and spacer.

[0047] The lamination unit 500 is used to provide a place for stacking materials and to position and arrange the stacked materials. The lamination receiving module 510 includes a lamination bin 511 for accommodating materials so that the materials can be stacked, and a third lifting servo module 512 for driving the lamination bin 511 to rise and fall; the lamination positioning and arranging module 520 includes a second push plate for pushing the side of the stacked materials to adjust the flatness of the stacked glass section, and a second cylinder for driving the second push plate to move. In this embodiment, the lamination unit 500 includes two lamination receiving modules arranged side by side, so that the transport unit 400 always puts materials into the same lamination bin 511 in the same lamination cycle, and the other lamination bin 511 is used as a backup. When the materials in one lamination bin 511 are stacked, the transport unit 400 puts materials into the other lamination bin 511, so that the operator can continue to work while taking out the stacked glass, thereby ensuring the continuous production of the equipment. The stacking bin 511 includes a tray that is connected to the third lifting servo module 512 and can be lifted and lowered, and columns that are arranged at intervals and around the tray. The columns limit the materials stacked in the tray, and the gaps formed between adjacent columns can provide a connection channel for the second push plate. In this embodiment, the third lifting servo module 512 includes a third servo motor, a third screw rod that is connected to the output shaft of the third servo motor and rotates coaxially, and a third nut that is rotatably sleeved on the third screw rod. The tray is fixed on the third nut to follow the third nut and synchronously lift and lower along the length direction of the third screw rod. During the stacking process, each time a piece of material is placed in the tray, the third servo motor controls the tray to descend to a height that is the same as the thickness of the material to ensure the consistency of the height of the contact surface with the material on the stacking receiving module 510 during stacking, thereby adapting to the discharge height of the vacuum suction cup 410. In other embodiments, the third lifting servo module 512 can also be replaced by a lifting mechanism such as a cylinder or a hydraulic cylinder, which will not be repeated here. In addition, in this embodiment, a stacking positioning and sorting module 520 can be arranged around the stacking receiving module 510, and the stroke of each second cylinder can be controlled at the same time. In this way, the four second cylinders can simultaneously push the four sides of the stacking structure, so that the four sides of the stacking structure can be vertical planes, thereby improving the flatness of the stacked glass section. The stacking pressing module 530 can be a pneumatic push rod or an electric push rod. A pressing plate is fixed at the end of the stacking pressing module 530. The pressing plate presses the stacked material with a constant pressure, which is convenient for the operator to take out the stacked material.

[0048] The buffer unit 600 includes a waste glass sheet conveying mechanism 610 for receiving and transporting unqualified glass, and a waste sheet jamming positioning mechanism 620 for limiting the moving position of unqualified glass on the waste glass sheet conveying mechanism 610. In this embodiment, the waste glass sheet conveying mechanism 610 can be a conveyor belt and a motor driving the conveyor belt to rotate, and the waste sheet jamming positioning mechanism 620 is a partition provided at the output end of the conveyor belt. When the unqualified waste glass sheets placed on the conveyor belt are driven by the transmission belt and move to the partition, the waste glass sheets stay on the conveyor belt under the constraint of the partition, so as to subsequently centrally process the waste glass sheets. Of course, the glass lamination equipment of this scheme also includes an industrial computer for controlling the operation of various electrical components (including various motors, cylinders, scanning and identification modules 230, etc.), and the above electrical components are all centrally controlled by the industrial computer.

[0049] Please combine Figure 1-5 The present invention also discloses a control method applied to the above-mentioned glass lamination equipment, the control method comprising the following steps:

[0050] S1. The glass loading module 110 receives incoming materials, and the monitoring module 120 monitors the feeding status of the incoming materials in real time.

[0051] In the present embodiment, after the glass lamination equipment is powered on, the glass lamination equipment automatically runs and detects all abnormal information, including detection of glass residue on the glass loading module 110 by the docking monitoring module 120, detection of the connection status between the docking monitoring module 120 and the glass cleaning machine, detection of the status of each cylinder, detection of the stacking residue in the lamination unit 500, and detection of the equipment emergency stop signal, etc. If there is no abnormality in the detection information, the equipment is ready to reset. If abnormal information is prompted, an alarm is prompted so that the operator can manually handle each abnormal situation. After the equipment is reset and ready, the industrial computer controls the components in the material connection unit 100, the scanning and loading unit 200, the spacer preparation unit 300, the conveying unit 400, the stacking unit 500 and the cache unit 600 to return to the initial state or return to zero, and then judges the equipment operating conditions. If the current state of the equipment meets its normal operating conditions, the industrial computer controls the operation of the material connection unit 100, the scanning and loading unit 200, the spacer preparation unit 300, the conveying unit 400, the stacking unit 500 and the cache unit 600. If it does not meet its normal operating conditions, an emergency stop signal or a pause signal is output to shut down the equipment so as to handle the abnormal situation.

[0052] When loading the glass, the connection monitoring module 120 first detects the glass feeding status on the glass loading module 110. When the glass on the glass loading module 110 is empty, the glass loading module 110 starts, and the connection monitoring module 120 outputs a feeding signal to the glass cleaning machine. After the glass enters the glass loading module 110, the connection monitoring module 120 monitors the glass feeding status on the glass loading module 110 in real time, and determines that the glass loading module 110 is full. At the same time, the connection monitoring module 120 sends signals to the glass loading module 110 and the glass cleaning machine respectively, so that the glass loading module 110 suspends material transportation, and the glass cleaning machine suspends loading. At this time, the industrial computer receives the signal from the connection monitoring module 120 and controls the material grabbing module 220 to pick up the material.

[0053] S2. The material grabbing module 220 grabs the glass or bottom plate from the glass loading module 110 or the bottom plate feeding module 210. The scanning and identifying module 230 identifies and determines the type and condition of the material on the material grabbing module 220, and places the bottom plate or the glass that has passed the scan on the primary positioning module 240 for pre-positioning.

[0054] Before the material grabbing module 220 grabs the material, the industrial computer first detects the feeding status of the bottom plate feeding module 210. In this embodiment, the bottom plate feeding module 210 also includes a sensor for detecting the material status in the first bin 211, and the sensor can be a gravity sensor. When it is detected that there is a bottom plate in the bottom plate feeding module 210 (the detected gravity signal is greater than the gravity of the first bin 211), the industrial computer controls the first lifting servo module 212 to work so that the first bin 211 is lifted to a preset position and loaded. If it is detected that the bottom plate in the bottom plate feeding module 210 is exhausted (the detected gravity signal is equal to the gravity of the first bin 211), the industrial computer outputs a signal to prompt the replenishment of the bottom plate. Subsequently, the material grabbing module 220 grabs the glass or the bottom plate from the glass loading module 110 or the bottom plate feeding module 210, and the scanning and identification module 230 determines and identifies the type and state of the material grabbed by the material grabbing module 220, and puts the detected unqualified glass into the cache unit 600. At the same time, the material grabbing module 220 puts the identified bottom plate and qualified glass into the primary positioning module 240 for positioning.

[0055] S3, the spacer grabbing module 320 grabs the spacer and places the spacer on the secondary positioning module 330 for positioning.

[0056] Before the spacer grabbing module 320 grabs the spacer, the spacer feeding condition in the spacer feeding module 310 is first detected. In this embodiment, the spacer feeding module 310 also includes a sensor for detecting the material condition in the second bin 311, which can be a gravity sensor. When it is detected that there is a spacer in the spacer feeding module 310 (the detected gravity signal is greater than the gravity of the second bin 311), the industrial computer controls the second lifting servo module 312 to operate so that the second bin 311 is lifted to a preset position and loaded. If it is detected that the spacer in the spacer feeding module 310 is exhausted (the detected gravity signal is equal to the gravity of the second bin 311), the industrial computer outputs a signal to prompt the replenishment of the spacer.

[0057] S4, the transport unit 400 grabs materials from the primary positioning module 240 and the secondary positioning module 330 alternately, and stacks the materials on the stacking receiving module 510, and the stacking loading control module records the stacking times in real time and counts the glass pieces placed on the stacking receiving module 510.

[0058] In this embodiment, step S4 further includes:

[0059] S41, the stacking material feeding control module determines whether the current stacking times is zero, if so, the material grabbing module 220 grabs the bottom plate from the bottom plate feeding module 210 and identifies the positioning, the stacking material feeding control module controls the conveying unit 400 to grab the bottom plate from the primary positioning module 240 and put it into the stacking material receiving module 510, otherwise, enter step S42.

[0060] S42, the stacking material control module controls the conveying unit 400 to alternately grab the spacers and glass from the primary positioning module 240 and the secondary positioning module 330, record the number of stacked glasses, and determine in real time whether the number of stacked glasses reaches the set value of the number of stacked glasses. If not, repeat step S42, if yes, go to step S43.

[0061] S43, the stacking material loading control module controls the transport unit 400 to grab the spacers and the base plate from the secondary positioning module 330 and the primary positioning module 240 in turn and stack them in the stacking material receiving module 510, and the stacking pressing module 530 presses the top of the stacked material after the base plate is placed on the stacking material receiving module 510.

[0062] S44, the stacking control module clears the recorded stacking times and the number of stacked glasses. Each cycle of glass stacking operation strictly executes steps S41-S44 until all the glasses are stacked.

[0063] In this embodiment, the stacking times and the amount of glass are recorded by the stacking loading control module, and the material grabbing module 220 and the conveying unit 400 are controlled by the stacking loading control module, so that a bottom plate is provided at the top and bottom of the stacking structure respectively, and the glass and the spacer between the two bottom plates are ensured to be arranged in an alternating stacking manner, and the spacer is always in contact with the bottom plate to avoid damage caused by direct contact between the glass and the bottom plate.

[0064] S5. The stacked glass positioning and sorting module 520 guides and pushes the stacked glass materials in the stacked glass receiving module 510 each time the stacked glass receiving module 510 receives a piece of glass material, so as to adjust the flatness of the cut surface of the stacked glass.

[0065] S6. When the stacking height in the stacking receiving module 510 reaches a preset value, the stacking pressing module 530 presses the top of the stacked material so that the operator can take out the stacked material. In this embodiment, the preset value of the stacking height H = the glass stacking quantity setting value Nx (glass thickness h1 + spacer thickness h2) + spacer thickness h2 + 2x bottom plate thickness h3.

[0066] The control method of the above-mentioned glass stacking equipment positions the bottom plate and the glass once and positions the spacer twice, so that the glass can be aligned when stacked with the spacer and the bottom plate. The stacked material is guided by the stacking positioning and sorting module 520, and the position of the stacked glass can be adjusted to improve the flatness of the cut surface of the stacked glass, avoid the problem of insufficient yield in the edge grinding process caused by lateral shift of the glass, and improve the stability of the stacked glass to prevent glass breakage or safety accidents caused by glass sliding or falling. It replaces manual stacking, improves stacking efficiency, and reduces the cost of glass stacking. Compared with manual stacking methods, its error rate is significantly reduced.

[0067] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0068] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A glass lamination device, characterized in that: include: An incoming material docking unit, the incoming material docking unit comprising a glass loading module for receiving and transmitting incoming glass outputted by the glass washing machine, and a docking monitoring module connected to the glass washing machine for monitoring the incoming material feeding status on the glass loading module, the docking monitoring module sending a start / stop signal to the glass washing machine according to the incoming material feeding status; A scanning loading unit, the scanning loading unit comprising a bottom plate feeding module for providing bottom plates to be stacked, a material grabbing module for grabbing glass or bottom plates from a glass loading module or a bottom plate feeding module, a scanning recognition module for identifying and judging the type and condition of materials on the material grabbing module, and a primary positioning module for receiving qualified materials identified by the scanning recognition module on the material grabbing module and pre-positioning the materials; A spacer preparation unit, the spacer preparation unit comprising a spacer feeding module for providing spacers to be stacked, a spacer grabbing module for grabbing spacers from the spacer feeding module, and a secondary positioning module for positioning the spacers grabbed by the spacer grabbing module; A handling unit, the handling unit is used to alternately grab and move materials from the primary positioning module and the secondary positioning module; The stacking unit comprises a stacking receiving module for receiving materials from the conveying unit, a stacking positioning and sorting module for guiding and pushing the stacked materials in the stacking receiving module to adjust the flatness of the cut surface of the stacked glass when each piece of material is received by the stacking receiving module, a stacking feeding control module electrically connected to the conveying unit to control the conveying unit to alternately grab materials from the primary positioning module and the secondary positioning module and transport them to the stacking receiving module, and a stacking pressing module electrically connected to the stacking feeding control module and used to press the top of the stacked materials when the stacking height in the stacking receiving module reaches a preset value, the stacking feeding control module counts the glass in the stacking materials when the conveying unit transports the materials to the stacking receiving module, and a bottom plate is respectively provided on the top and bottom of the stacking materials pressed by the stacking pressing module, and glass and spacers are alternately stacked between the two bottom plates; A cache unit is used to store materials that are identified as unqualified by the scanning and identification module.

2. The glass lamination device according to claim 1, characterized in that: The glass loading module comprises a first conveying mechanism for receiving incoming glass and a second conveying mechanism for receiving material output by the first conveying mechanism. The conveying speed of the first conveying mechanism is lower than that of the second conveying mechanism.

3. The glass lamination device according to claim 2, characterized in that: The first transport mechanism includes a first transport belt for receiving and transporting glass, and a first stepper motor for driving the first transport belt to rotate. The second transport mechanism includes a second transport belt for receiving and transporting glass, and a second stepper motor for driving the second transport belt to rotate. The stepping speed of the second stepper motor is twice the stepping speed of the first stepper motor.

4. The glass lamination device according to claim 1, characterized in that: The base plate feeding module includes a first material bin for accommodating the base plate and a first lifting servo module for driving the first material bin to vertically load materials; the material grabbing module is a four-axis robot; the one-time positioning module includes a first supporting platform for receiving and clamping the glass or base plate and a third stepping motor for driving the first supporting platform to rotate to adjust the angle of the glass or the base plate.

5. The glass lamination device according to claim 1, characterized in that: The spacer feeding module includes a second material bin for accommodating spacers and a second lifting servo module for driving the second material bin to vertically load the spacers; the spacer grabbing module includes a pneumatic clamp and an RZ driving mechanism that can drive the pneumatic clamp to rotate in a horizontal plane and lift in a vertical direction; The secondary positioning module comprises a second supporting platform for receiving the spacer, a first pushing plate for pushing the spacer on the second supporting platform to align the spacer, and a first cylinder for driving the first pushing plate to move.

6. The glass lamination device according to claim 1, characterized in that: The transport unit includes a vacuum suction cup for grabbing glass or a base plate or a spacer, and an XZ servo module for driving the vacuum suction cup to move horizontally and lift; the XZ servo module includes an X-axis guide rail arranged in a horizontal direction, a mounting bracket slidably arranged on the X-axis guide rail, a first driving component driving the mounting bracket to slide on the X-axis guide rail, a Z-axis guide rail fixed on the mounting bracket, a slider or a slide slidably arranged on the Z-axis guide rail, and a second driving component driving the slider or the slide to lift and lower on the Z-axis guide rail, and the vacuum suction cup is fixed on the slider or the slide.

7. The glass lamination device according to claim 1, characterized in that: The stacking material receiving module includes a stacking bin for receiving materials so as to stack the materials, and a third lifting servo module for driving the stacking bin to lift; The stacked glass positioning and sorting module comprises a second push plate for pushing the side surface of the stacked material to adjust the flatness of the cut surface of the stacked glass, and a second cylinder for driving the second push plate to move.

8. The glass lamination device according to claim 1, characterized in that: The buffer unit comprises a waste glass sheet conveying mechanism for receiving and transporting unqualified glass, and a waste glass sheet blocking and positioning mechanism for limiting the moving position of unqualified glass on the waste glass sheet conveying mechanism.

9. A control method applied to the glass lamination equipment according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1. The glass feeding module receives the incoming materials from the glass feeding module, and the connecting monitoring module monitors the feeding status of the incoming materials in real time; S2, the material grabbing module grabs the glass or bottom plate from the glass loading module or the bottom plate feeding module, the scanning and identification module identifies and determines the type and condition of the material on the material grabbing module, and places the bottom plate or the scanned qualified glass on the primary positioning module for pre-positioning; S3, the spacer grabbing module grabs the spacer and places the spacer on the secondary positioning module for positioning; S4, the handling unit alternately grabs materials from the primary positioning module and the secondary positioning module, and stacks the materials on the stacking receiving module, and the stacking feeding control module records the stacking times in real time and counts the glass sheets placed on the stacking receiving module; S5, the stacking positioning and sorting module guides and pushes the stacked materials in the stacking receiving module each time a piece of material is received by the stacking receiving module, so as to adjust the flatness of the stacked glass section; S6. The stacking pressing module presses the top of the stacked material when the stacking height in the stacking receiving module reaches a preset value.

10. The control method according to claim 9, characterized in that: Step S4 also includes: S41, the stacking material control module determines whether the current stacking times is zero, if so, the material grabbing module grabs the bottom plate from the bottom plate feeding module and identifies the position, the stacking material control module controls the handling unit to grab the bottom plate from the primary positioning module and put it into the stacking material receiving module, otherwise, enter step S42; S42, the stacking material control module controls the handling unit to alternately grab the spacer and the glass from the primary positioning module and the secondary positioning module, record the number of stacked glasses, and determine in real time whether the number of stacked glasses reaches the set value of the number of stacked glasses. If not, repeat step S42. If yes, proceed to step S43. S43, the stacking material feeding control module controls the handling unit to grab the spacer and the bottom plate from the secondary positioning module and the primary positioning module in turn and stack them in the stacking material receiving module, and the stacking pressing module presses the top of the stacked material after the bottom plate is placed in the stacking material receiving module; S44, the stacking material control module clears the recorded stacking times and the number of stacked glasses.

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