Quick and lossless sheet disassembling equipment for sandwich product

Abstract

The invention relates to the technical field of glass processing and recycling, and particularly discloses a rapid nondestructive laminated product sheet disassembling device which comprises a laminated glass sheet feeding table, a steam heating box, a boiling water washing box, a laminated glass sheet disassembling box, a laminated glass cleaning box, a glue film collecting platform and a mechanical arm sheet discharging table. According to the sheet disassembling equipment, batch production can be achieved, glass interlayer defective products are removed, and the purpose of recycling the defective laminated glass is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of glass processing and recycling, and more particularly to a device for rapidly and non-destructively removing laminated products. Background Art

[0002] At present, the main method of removing laminated glass is manual operation, which includes heating and softening the laminated glass, and then peeling off the interlayer film in the interlayer with tools or manually. However, this method has significant shortcomings: on the one hand, the efficiency of manual removal is low, which is difficult to meet the needs of large-scale recycling of defective products; on the other hand, the glass surface is easily damaged during manual operation, resulting in a high glass scrap rate. In addition, some existing automated equipment can only complete a single step or lack a coherent assembly line design, and cannot achieve efficient and non-destructive removal operations. Summary of the invention

[0003] In order to overcome the above-mentioned defects of the prior art, the present invention provides a fast and lossless laminated product delamination equipment, which is achieved through the coordinated work of the laminated glass upper table support frame and the glass lifting arm; the steam in the steam heating box is evenly sprayed; the boiling water flushing box removes the intermediate film of the glass; the clamping force of the suction cup device of the laminated glass delamination box is controllable to achieve lossless delamination; the film collection platform realizes the collection of film debris and water recycling; the mechanical arm of the lower table mechanical arm facilitates the glass unloading operation; efficient and lossless delamination is achieved to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] A fast and non-destructive laminated product disassembly device comprises a laminated glass loading platform, a steam heating box, a boiling water flushing box, a laminated glass disassembly box, a laminated glass cleaning box, a film collecting platform, and a mechanical arm disassembly platform; the steam heating box is connected to the laminated glass loading platform, the boiling water flushing box is connected to the steam heating box, the laminated glass disassembly box is connected to the boiling water flushing box, the laminated glass cleaning box is connected to the laminated glass disassembly box, the film collecting platform is placed below the laminated glass cleaning box, and the mechanical arm disassembly platform is connected to the laminated glass cleaning box;

[0006] The high-pressure boiling water spray head of the boiling water flushing box strongly flushes the adhesive film in the glass interlayer. By establishing a dynamic adjustment model for flushing time, the water flow pressure, water flow speed and spray angle are adjusted according to the adhesion strength of the adhesive film to dynamically adjust the flushing time. The formula of the dynamic adjustment model for flushing time is: Wherein, T is the time required for flushing; S is the adhesive strength of the film measured by the pressure sensor; A is the area of ​​the glass surface that needs to be cleared of the film; P is the water flow pressure generated by the high-pressure spray device; v is the water flow velocity sprayed by the spray head, and the relationship between the water flow velocity v, the water flow pressure P, and the water density ρ is: θ is the spray angle, that is, the angle between the spray head of the high-pressure spray device and the glass surface; k is the flushing efficiency coefficient.

[0007] As a further solution of the present invention, the laminated glass loading platform includes a frame, a glass lifting arm and a conveyor belt. The frame is L-shaped or A-shaped and is used to vertically store the laminated glass to be processed. The frame is made of high-strength steel and is covered with a flexible protective pad. The angle of the frame is designed to be 15-20° to ensure that the glass is stable and does not fall when it is placed. At the same time, the height of the frame can be adjusted to adapt to glass of different sizes. The frame is connected to the glass lifting arm through a slide rail. The glass lifting arm is an automated mechanical arm equipped with a vacuum suction cup group, and the vacuum suction cups are distributed at the front end of the mechanical arm. The number of vacuum suction cups is more than 4, and the spacing is 100mm-500mm. The vacuum suction cup is made of silica gel, which is resistant to high temperature and has good flexibility to prevent damage to the glass surface during adsorption. The mechanical arm adopts a multi-joint structure, supports multi-degree-of-freedom movement, and is driven by a servo motor. The conveyor belt is located between the frame and the steam heating box, and is made of high-temperature resistant polyester. The conveyor belt is equipped with a flexible anti-slip pad to prevent the glass from slipping.

[0008] As a further solution of the present invention, the steam heating box includes a box body, a steam spray device, an infrared sensor probe, a steam heating device, a dehumidification and ventilation system and a glass conveyor belt. The box body is made of double-layer stainless steel, the inner layer is 316L corrosion-resistant stainless steel, the outer layer is 304 stainless steel, and the interlayer is filled with heat-insulating materials. The interior of the box body is also equipped with a high-temperature corrosion-resistant coating with a temperature resistance range of -40°C to 150°C to prevent loss caused by long-term use. The steam spray device has multiple sets of steam spray heads built in, and the steam spray heads are designed with adjustable angles. The number of steam spray heads is arranged according to the length of the box body, and one set is arranged every 300mm to ensure continuous heating. The infrared sensor probes are evenly distributed on the upper and lower sides of the box body for real-time monitoring of the glass surface temperature. The working process of the dehumidification and ventilation system is as follows: an automatic dehumidification port is provided on the top of the box body, and the humidity in the box body is monitored in real time through a humidity sensor. When the humidity exceeds the set value, the dehumidification port is automatically opened, and the ventilation device is installed on the side of the box body to maintain air circulation in the box body to prevent excessive accumulation of water vapor. The glass conveyor belt is installed at the bottom of the box body, and is made of a high temperature resistant Teflon mesh belt. The glass conveyor belt is equipped with an adjustable speed motor. The heated glass is sent to the boiling water flushing box through the glass conveyor belt.

[0009] As a further solution of the present invention, a boiling water flushing box uses high-pressure and high-temperature water flow to remove the softened interlayer intermediate film, and reuses the flushing water through a water circulation filtration system to reduce operating costs and environmental impact. The box body of the boiling water flushing box is a closed design, made of high-strength stainless steel, and the inner wall of the box is coated with a waterproof and anti-fouling coating. The interior of the box body is divided into three areas, including a glass inlet area, a high-pressure flushing area, and an outlet buffer area. A transparent observation window is provided on the outside of the box body to facilitate real-time monitoring of internal operations. The bottom of the box body is installed with an inclined design to facilitate water flow recovery and discharge to the circulation filtration system. The boiling water flushing box includes a high-pressure spray device, a water circulation filtration system, a heating system, a conveyor belt, and a drainage and water level control system. The high-pressure spray device is built with multiple groups of high-pressure boiling water spray heads, and a high-pressure boiling water spray head is equipped every 300mm. The high-pressure boiling water spray head is a high-strength wear-resistant ceramic that can withstand high-pressure water flow for a long time. The water circulation filtration system is equipped with a three-stage filtration device, which includes a primary coarse filter, a medium filter, and a precision filter. The primary coarse filter intercepts large particles, the intermediate filter removes medium particles, and the precision filter device filters particles with a diameter of ≤10μm. The heating system has a built-in electric heating device and adopts a high-temperature resistant electric heating tube. The heating power of the electric heating device is adjusted according to the size of the box. The conveyor belt is made of high-temperature resistant and anti-slip materials and is equipped with a variable speed motor. The speed can be adjusted according to the flushing needs. The drainage and water level control system includes a drain outlet and a float sensor. The drain outlet is installed at the bottom of the box and is equipped with an automatic drain valve. The water level is monitored by the float sensor. The glass flushed in the boiling water flushing box is conveyed to the laminated glass removal box.

[0010] As a further solution of the present invention, a transparent observation window and an LED lighting lamp are arranged on the outside of the box body of the laminated glass stripping box, so as to facilitate real-time observation of the internal operation. The laminated glass stripping box includes a hydraulically driven suction cup, a separation mechanism, a sensor system and a conveyor belt. Multiple groups of hydraulically driven suction cups are installed on both sides of the box body. The hydraulically driven suction cups are connected to a vacuum pump, and the vacuum pump provides a clamping force for the hydraulically driven suction cups. The calculation formula of the clamping force is: F = P·AW·μ-F dyn , where P is the vacuum pressure generated by the vacuum pump; A is the adsorption area of ​​the hydraulic transmission suction cup, satisfying d is the diameter of the hydraulic suction cup; W is the weight of the glass, satisfying W = ρ·V·g, ρ is the density of the glass, V is the volume of the glass, and g is the acceleration of gravity; μ is the friction coefficient between the glass and the hydraulic suction cup; F dyn is the dynamic force generated by the acceleration when the glass is separated, satisfying F dyn =m·a, m is the mass of the glass, and a is the separation acceleration; if the clamping force F is greater than the maximum safe clamping force F that the glass can withstand max, then reduce the vacuum pressure generated by the vacuum pump to make F≤F max ; If the clamping force F is less than the minimum clamping force F at which the glass does not slide min , then increase the vacuum pressure generated by the vacuum pump to make F ≥ F min ; Always keep the clamping force F to meet F min ≤F≤F max . The separation mechanism is equipped with an electric slide rail drive device. The slide rail adopts a linear guide structure, and hydraulic transmission suction cup brackets are fixed on both sides of the slide rail. The sensor system includes a pressure sensor, a displacement sensor and a photoelectric sensing device. The pressure sensor detects the vacuum pressure of the suction cup, and the displacement sensor monitors the movement range of the slide rail; the photoelectric sensing device is used to detect the correct positioning of the glass. The top of the laminated glass stripping box is provided with an automatic exhaust port for discharging tiny particles or dust generated during the separation process. The laminated glass stripping box transfers the two separated pieces of glass to the laminated glass washing box through two independent conveyor belts.

[0011] As a further solution of the present invention, the inner wall of the laminated glass washing box adopts a waterproof and antifouling coating, and the outer wall has an insulation layer. The box body of the laminated glass washing box also includes a transparent observation window and a built-in LED lighting lamp. The laminated glass washing box includes a washing drum, a high-pressure spray head, a brush, a film filter device, an air shower drying device and a conveyor belt. The diameter of the washing drum is 100mm-200mm, and the washing drum is equipped with a motor drive system, and the motor drive system can adjust the speed of the washing drum. The high-pressure spray heads are distributed on the upper and lower sides of the washing area, and the spray angle is 45° to ensure that the water flow covers both sides of the glass. The high-pressure spray head is made of stainless steel, which is resistant to high pressure and corrosion. The brush is made of soft nylon or PVA material, and the bristles are high in density and soft, avoiding scratches on the glass. The brush is distributed on both sides of the drum and cooperates with the drum to complete deep cleaning. The film filter device is equipped with a filter to filter the laminated film into the film collection platform. An air shower drying device is provided at the exit area of ​​the laminated glass washing box. The air shower drying device utilizes high-temperature hot air to quickly dry the glass. The hot air is heated by an electric heater and the temperature range is 40°-60°.

[0012] As a further solution of the present invention, the film collection platform includes a collection tank, a filtering device, a conveying device, a water circulation pipeline and a waste collection box. The bottom of the collection tank is inclined with an inclination of 5°-10°, so that the film debris can slide to the discharge port. The filtering device is designed with three layers, the first layer is a primary filter screen with a mesh diameter of ≥0.5mm, which is used to intercept larger film debris; the second layer is a secondary filter layer with a mesh diameter between 0.1mm-0.5mm, which is used to remove medium-sized film particles; the third layer is a precision filter layer with a mesh diameter of ≤0.1mm, which is used to remove tiny particles. The conveying device is a scraper conveyor, which conveys the film debris at the bottom of the collection tank to the waste collection box. The water circulation pipeline returns the filtered clean water to the laminated glass washing box through the circulation pipeline for continued use. The waste collection box is used to store the filtered film debris.

[0013] As a further solution of the present invention, the lower sheet platform of the robotic arm includes a robotic arm, a glass support, a glass outlet conveyor belt and a photoelectric sensor. The robotic arm has 5-6 axes of freedom and is driven by a servo motor to meet the needs of grabbing and placing glass of different sizes. The robotic arm is equipped with a flexible vacuum suction cup, and the material of the flexible vacuum suction cup is highly elastic silicone to avoid scratches on the glass surface. The glass support is an L-shaped or A-shaped support frame, and the support frame is made of high-strength steel. The inclination angle of the support frame is fixed at 15°-20° to ensure that the glass stack is stable and easy to pick up and place. The photoelectric sensor detects the position where the glass reaches the end of the conveyor belt and triggers the operation of the robotic arm.

[0014] As a further solution of the present invention, a method for non-destructive debonding of laminated glass comprises the following specific steps:

[0015] Step S1, vertically place the laminated glass to be delaminated on an L-shaped or A-shaped support frame. Through the glass lifting arm of the laminated glass loading platform, the glass is firmly adsorbed and lifted from the support frame using a vacuum suction cup. After the mechanical arm adjusts the glass to a horizontal state, it is stably placed on the conveyor belt, and then the conveyor belt is used to transfer the glass to the steam heating box.

[0016] Step S2, after the laminated glass enters the steam heating box, the heating box turns on the steam spray head through automatic induction, sprays saturated steam evenly, and heats the glass surface and the interlayer film.

[0017] Step S3, according to the thickness difference of the laminated glass, the surface temperature of the heated laminated glass is monitored in real time by the infrared sensor probe in the steam heating box. When the surface temperature of the glass reaches and meets the softening requirement of the laminated interlayer (≥75°C), the steam heating device automatically stops heating, and the conveyor belt starts to transfer the laminated glass to the boiling water flushing box for the next step of processing.

[0018] Step S4, after the laminated glass enters the boiling water flushing box, the adhesive film in the interlayer is strongly flushed by a high-pressure spray device (spraying pressure is 4-8MPa). A dynamic adjustment model for flushing time is established, and the water flow pressure, water flow speed and spray angle are adjusted according to the adhesion strength of the adhesive film to dynamically adjust the flushing time to ensure that the adhesive film is completely removed. The formula of the dynamic adjustment model for flushing time is: Wherein, T is the time required for flushing; S is the adhesive strength of the film measured by the pressure sensor; A is the area of ​​the glass surface that needs to be cleared of the film; P is the water flow pressure generated by the high-pressure spray device; v is the water flow velocity sprayed by the spray head, and the relationship between the water flow velocity v, the water flow pressure P, and the water density ρ is: θ is the spray angle, that is, the angle between the spray head of the high-pressure spray device and the glass surface; k is the flushing efficiency coefficient. The laminated glass that has been flushed is then transferred to the laminated glass depanning box.

[0019] Step S5, the double-sided suction cups in the laminated glass stripping box respectively adsorb the two sides of the laminated glass, and the slide rail driving device uniformly applies force in opposite directions to separate the two sheets of laminated glass. The separated glass sheets are sequentially conveyed to the laminated glass cleaning box.

[0020] Step S6, after the two separated laminated glasses enter the laminated glass cleaning box respectively, the residual laminated film on the glass surface is removed through the synergistic effect of the cleaning roller and the brush. The cleaned film debris is carried by the water flow and filtered to the film collection platform, while the cleaning roller and the brush further clean the front and back sides of the glass to ensure that the glass surface is clean.

[0021] Step S7, the glass in the laminated glass washing box is dried by the air shower at the outlet and then transferred to the lower sheet platform of the robotic arm. The robotic arm of the lower sheet platform places the transferred single sheets of glass one by one on the L-shaped or A-shaped support frame.

[0022] The technical effects and advantages of the fast and lossless laminated product stripping equipment of the present invention are as follows: the present invention ensures the stability and safety of the glass loading through the coordinated work of the laminated glass loading platform support frame and the glass lifting arm; the steam in the steam heating box is sprayed evenly; the boiling water flushing box effectively removes the intermediate film of the glass through the high-pressure and high-temperature water flow and the water circulation filtration system; the clamping force of the suction cup device of the laminated glass stripping box is controllable to achieve lossless stripping; the film collection platform can realize the collection of film debris and water recycling; the mechanical arm of the lowering platform is convenient for the glass unloading operation; the stripping equipment of the present invention realizes the complete assembly line operation from the loading to the unloading of laminated glass, overcomes the problems of low efficiency of manual stripping, easy damage to the glass and insufficient existing automation equipment, improves the stripping efficiency, reduces the glass scrap rate, and realizes efficient and lossless stripping. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 The present invention is a schematic structural diagram of a device for rapidly and non-destructively disassembling sandwich products.

[0024] Figure 2 This is a schematic diagram of the application of step S1 of the method for non-destructive debonding of laminated glass of the present invention to a device for rapidly and non-destructively debonding laminated products.

[0025] Figure 3 This is a schematic diagram of the application of step S2 of the method for non-destructive debonding of laminated glass of the present invention to a rapid non-destructive debonding device for laminated products.

[0026] Figure 4 This is a schematic diagram of the application of step S3 of the method for non-destructive debonding of laminated glass of the present invention to a device for rapidly and non-destructively debonding laminated products.

[0027] Figure 5 The schematic diagram is a schematic diagram of applying step S4 of a method for non-destructive debonding of laminated glass of the present invention to a device for rapidly and non-destructively debonding laminated products.

[0028] Figure 6 It is a schematic diagram of applying step S5 of a method for non-destructive debonding of laminated glass of the present invention to a device for rapidly and non-destructively debonding laminated products.

[0029] Figure 7 This is a schematic diagram of the application of step S6 in the method for non-destructive debonding of laminated glass of the present invention to a rapid non-destructive debonding device for laminated products.

[0030] Figure 8 The schematic diagram is a schematic diagram of applying step S7 of a method for non-destructive debonding of laminated glass of the present invention to a device for rapidly and non-destructively debonding laminated products. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] Example 1

[0033] See also Figure 1 As shown in the structural schematic diagram, an embodiment of the present invention provides a fast and non-destructive laminated product disassembly equipment, which includes a laminated glass loading platform, a steam heating box, a boiling water flushing box, a laminated glass disassembly box, a laminated glass cleaning box, a film collection platform, and a robotic arm disassembly platform.

[0034] Furthermore, the laminated glass loading platform includes a frame, a glass lifting arm and a conveyor belt. The frame is L-shaped or A-shaped and is used to vertically store the laminated glass to be processed. The frame is made of high-strength steel and is covered with a flexible protective pad on the surface to prevent the glass from being damaged during storage. The angle of the frame is designed to be 15-20° to ensure that the glass is stable and does not fall when it is placed. At the same time, the height of the frame can be adjusted to adapt to glass of different sizes. The frame is connected to the glass lifting arm through a slide rail. The glass lifting arm is an automated mechanical arm equipped with a vacuum suction cup group, and the vacuum suction cups are distributed at the front end of the mechanical arm. The number of vacuum suction cups is more than 4, and the spacing is 100mm-500mm. The material of the vacuum suction cup is silicone, which is resistant to high temperature and has good flexibility to prevent damage to the glass surface during adsorption. The mechanical arm adopts a multi-joint structure, supports multi-degree-of-freedom movement, and is driven by a servo motor. The horizontal movement distance of the mechanical arm is 0mm-3000mm, the vertical movement distance is 0mm-2000mm, and the rotation angle is 0°-90°. The conveyor belt is located between the support frame and the steam heating box, and is made of high-temperature resistant polyester. The conveyor belt is equipped with a flexible anti-skid pad to prevent the glass from slipping.

[0035] Furthermore, the steam heating box includes a box body, a steam spray device, an infrared sensor probe, a steam heating device, a dehumidification and ventilation system and a glass conveyor belt. The box body is made of double-layer stainless steel, the inner layer is 316L corrosion-resistant stainless steel, the outer layer is 304 stainless steel, and the interlayer is filled with insulation material to prevent heat leakage. The interior of the box body is also equipped with a high-temperature corrosion-resistant coating with a temperature resistance range of -40°C to 150°C to prevent loss caused by long-term use. The steam spray device is built with multiple groups of steam spray heads, and the steam spray heads are designed with adjustable angles to ensure that the steam covers the glass surface evenly. The number of steam spray heads is arranged according to the length of the box body, and one group is arranged every 300mm to ensure continuous heating. The infrared sensor probes are evenly distributed on the upper and lower sides of the box body for real-time monitoring of the glass surface temperature. The detection range of the infrared sensor probe is 0°C to 200°C, with an accuracy of ±0.5°C. The working process of the dehumidification and ventilation system is as follows: an automatic dehumidification port is provided on the top of the box, and the humidity in the box is monitored in real time through a humidity sensor. When the humidity exceeds the set value, the dehumidification port is automatically opened, and the ventilation device is installed on the side of the box to maintain the air circulation in the box to prevent excessive accumulation of water vapor. The glass conveyor belt is installed at the bottom of the box, and the material is a high-temperature resistant Teflon mesh belt. The glass conveyor belt is equipped with an adjustable speed motor with a speed range of 0.2-0.5m / s. The heated glass is sent to the boiling water flushing box through the glass conveyor belt.

[0036] Furthermore, the boiling water flushing box uses high-pressure and high-temperature water flow to remove the softened interlayer intermediate film, and reuses the flushing water through the water circulation filtration system to reduce operating costs and environmental impact. The box body of the boiling water flushing box is a closed design, made of high-strength stainless steel material, and the inner wall of the box body is coated with a waterproof and anti-fouling coating. The interior of the box body is divided into three areas, including a glass entrance area, a high-pressure flushing area and an outlet buffer area. A transparent observation window is provided on the outside of the box body to facilitate real-time monitoring of internal operations. The bottom of the box body is installed with an inclined design to facilitate water flow recovery and discharge to the circulation filtration system. The boiling water flushing box includes a high-pressure spraying device, a water circulation filtration system, a heating system, a conveyor belt and a drainage and water level control system. The high-pressure spraying device has multiple sets of high-pressure boiling water spray heads, the spray angle can be adjusted in the range of 30°-90°, and a high-pressure boiling water spray head is equipped every 300mm. The high-pressure boiling water spray head is a high-strength wear-resistant ceramic that can withstand high-pressure water flow for a long time. The water circulation filtration system is equipped with a three-stage filtration device, which includes a primary coarse filter, a medium filter and a precision filter. The primary coarse filter intercepts large particles, the medium filter removes medium particles, and the precision filter has a filter particle size of ≤10μm. The heating system has a built-in electric heating device, which uses a high-temperature resistant electric heating tube to ensure that the water temperature is stable at 85℃-95℃. The heating power of the electric heating device is adjusted according to the size of the box, and the heating range is 10-30kW. The conveyor belt is made of high-temperature resistant and non-slip materials, equipped with a variable speed motor, and the speed can be adjusted according to the flushing requirements. The drainage and water level control system includes a drain and a float sensor. The drain is installed at the bottom of the box and is equipped with an automatic drain valve. The water level is monitored by the float sensor, and water is automatically replenished when the water level is low to maintain normal operation. The glass flushed in the boiling water flushing box is conveyed to the laminated glass disassembly box.

[0037] Furthermore, a transparent observation window and an LED lighting are provided on the outside of the box body of the laminated glass stripping box to facilitate real-time observation of internal operations. The laminated glass stripping box includes a hydraulically driven suction cup, a separation mechanism, a sensor system and a conveyor belt. Multiple groups of hydraulically driven suction cups are installed on both sides of the box body. The diameter of the hydraulically driven suction cups is 50-150 mm, and the distribution density is one group per 300 mm. The hydraulically driven suction cups are connected to a vacuum pump, which provides a clamping force for the hydraulically driven suction cups. The clamping force is calculated as follows: F = P·AW·μ-F dyn , where P is the vacuum pressure generated by the vacuum pump; A is the adsorption area of ​​the hydraulic transmission suction cup, satisfying d is the diameter of the hydraulic suction cup; W is the weight of the glass, satisfying W = ρ·V·g, ρ is the density of the glass, V is the volume of the glass, and g is the acceleration of gravity; μ is the friction coefficient between the glass and the hydraulic suction cup; F dyn is the dynamic force generated by the acceleration when the glass is separated, satisfying Fdyn =m·a, m is the mass of the glass, and a is the separation acceleration; if the clamping force F is greater than the maximum safe clamping force F that the glass can withstand max , then reduce the vacuum pressure generated by the vacuum pump to make F≤F max ; If the clamping force F is less than the minimum clamping force F at which the glass does not slide min , then increase the vacuum pressure generated by the vacuum pump to make F ≥ F min ; Always keep the clamping force F to meet F min ≤F≤F max . The separation mechanism is equipped with an electric slide rail drive device. The slide rail adopts a linear guide structure, and hydraulic transmission suction cup brackets are fixed on both sides of the slide rail. The sensor system includes a pressure sensor, a displacement sensor and a photoelectric sensing device. The pressure sensor detects the vacuum pressure of the suction cup, and the displacement sensor monitors the movement range of the slide rail; the photoelectric sensing device is used to detect the correct positioning of the glass. The top of the laminated glass stripping box is provided with an automatic exhaust port for discharging tiny particles or dust generated during the separation process. The laminated glass stripping box transfers the two separated pieces of glass to the laminated glass washing box through two independent conveyor belts.

[0038] Furthermore, the inner wall of the laminated glass washing box adopts a waterproof and antifouling coating, and the outer wall has an insulation layer. The box body of the laminated glass washing box also includes a transparent observation window and a built-in LED lighting lamp. The laminated glass washing box includes a washing drum, a high-pressure spray head, a brush, a film filter, an air shower drying device and a conveyor belt. The diameter of the washing drum is 100mm-200mm, and the washing drum is equipped with a motor drive system, and the motor drive system can adjust the speed of the washing drum. The high-pressure spray heads are distributed on the upper and lower sides of the washing area, and the spray angle is 45° to ensure that the water flow covers both sides of the glass. The high-pressure spray head is made of stainless steel, which is resistant to high pressure and corrosion, and the spray pressure range is 2-6MPa. The brush is made of soft nylon or PVA material, and the bristles are high in density and soft to avoid scratching the glass. The brushes are distributed on both sides of the drum and cooperate with the drum to complete deep cleaning. The speed range of the brush is 50-200rpm. The film filtering device is equipped with a filter to filter the laminated film into the film collecting platform. The exit area of ​​the laminated glass washing box is equipped with an air shower drying device, which uses high-temperature hot air to quickly dry the glass. The hot air is heated by an electric heater and the temperature range is 40°-60°.

[0039] Furthermore, the film collection platform includes a collection tank, a filtering device, a conveying device, a water circulation pipeline and a waste collection box. The bottom of the collection tank is inclined with an inclination of 5°-10°, so that the film debris can slide toward the discharge port. The filtering device is designed with three layers, the first layer is a primary filter with a mesh diameter of ≥0.5mm, which is used to intercept larger film debris; the second layer is an intermediate filter layer with a mesh diameter between 0.1mm-0.5mm, which is used to remove medium-sized film particles; the third layer is a precision filter layer with a mesh diameter of ≤0.1mm, which is used to remove tiny particles. The conveying device is a scraper conveyor, which conveys the film debris at the bottom of the collection tank to the waste collection box. The water circulation pipeline returns the filtered clean water to the laminated glass washing box through the circulation pipeline for continued use. The waste collection box is used to store the filtered film debris.

[0040] Furthermore, the lower sheet platform of the robotic arm includes a robotic arm, a glass support, a glass exit conveyor belt and a photoelectric sensor. The robotic arm has 5-6 axes of freedom and is driven by a servo motor to meet the needs of grabbing and placing glass of different sizes. The robotic arm is equipped with a flexible vacuum suction cup, which is made of highly elastic silicone to avoid scratches on the glass surface. The glass support is an L-shaped or A-shaped support frame, which is made of high-strength steel. The inclination angle of the support frame is fixed at 15°-20° to ensure that the glass stack is stable and easy to pick up and place. The photoelectric sensor detects the position where the glass reaches the end of the conveyor belt and triggers the operation of the robotic arm.

[0041] In this embodiment, see Figure 2-Figure 8 The schematic diagram shown in the figure shows a method for non-destructive debonding of laminated glass, comprising the following specific steps:

[0042] Step S1, vertically place the laminated glass to be delaminated on an L-shaped or A-shaped support frame. Through the glass lifting arm of the laminated glass loading platform, the glass is firmly adsorbed and lifted from the support frame using a vacuum suction cup. After the mechanical arm adjusts the glass to a horizontal state, it is stably placed on the conveyor belt, and then the conveyor belt is used to transfer the glass to the steam heating box.

[0043] Step S2, after the laminated glass enters the steam heating box, the heating box turns on the steam spray head through automatic induction, sprays saturated steam evenly, and heats the glass surface and the interlayer film.

[0044] Step S3, according to the thickness difference of the laminated glass, the surface temperature of the heated laminated glass is monitored in real time by the infrared sensor probe in the steam heating box. When the surface temperature of the glass reaches and meets the softening requirement of the laminated interlayer (≥75°C), the steam heating device automatically stops heating, and the conveyor belt starts to transfer the laminated glass to the boiling water flushing box for the next step of processing.

[0045] Step S4, after the laminated glass enters the boiling water flushing box, the adhesive film in the interlayer is strongly flushed by a high-pressure spray device (spraying pressure is 4-8MPa). A dynamic adjustment model for flushing time is established, and the water flow pressure, water flow speed and spray angle are adjusted according to the adhesion strength of the adhesive film to dynamically adjust the flushing time to ensure that the adhesive film is completely removed. The formula of the dynamic adjustment model for flushing time is: Wherein, T is the time required for flushing; S is the adhesive strength of the film measured by the pressure sensor; A is the area of ​​the glass surface that needs to be cleared of the film; P is the water flow pressure generated by the high-pressure spray device; v is the water flow velocity sprayed by the spray head, and the relationship between the water flow velocity v, the water flow pressure P, and the water density ρ is: θ is the spray angle, that is, the angle between the spray head of the high-pressure spray device and the glass surface; k is the flushing efficiency coefficient. The laminated glass that has been flushed is then transferred to the laminated glass depanning box.

[0046] Step S5, the double-sided suction cups in the laminated glass stripping box respectively adsorb the two sides of the laminated glass, and the slide rail driving device uniformly applies force in opposite directions to separate the two sheets of laminated glass. The separated glass sheets are sequentially conveyed to the laminated glass cleaning box.

[0047] Step S6, after the two separated laminated glasses enter the laminated glass cleaning box respectively, the residual laminated film on the glass surface is removed through the synergistic effect of the cleaning roller and the brush. The cleaned film debris is carried by the water flow and filtered to the film collection platform, while the cleaning roller and the brush further clean the front and back sides of the glass to ensure that the glass surface is clean.

[0048] Step S7, the glass in the laminated glass washing box is dried by the air shower at the outlet and then transferred to the lower sheet platform of the robotic arm. The robotic arm of the lower sheet platform places the transferred single sheets of glass one by one on the L-shaped or A-shaped support frame.

[0049] The present invention ensures the stability and safety of glass loading through the coordinated work of the laminated glass loading platform support frame and the glass lifting arm; the steam in the steam heating box sprays evenly; the boiling water flushing box effectively removes the intermediate film of the glass through the high-pressure and high-temperature water flow and the water circulation filtration system; the clamping force of the suction cup device of the laminated glass stripping box is controllable, and non-destructive stripping can be achieved; the film collection platform can realize the collection of film debris and water recycling; the mechanical arm of the mechanical arm of the lowering platform facilitates the glass unloading operation; the stripping equipment of the present invention realizes the complete assembly line operation from laminated glass loading to unloading, overcomes the problems of low efficiency of manual stripping, easy damage to glass and insufficient existing automation equipment, improves the stripping efficiency, reduces the glass scrap rate, and realizes efficient and non-destructive stripping.

[0050] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0051] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A fast and non-destructive interlayer product disassembly device, characterized in that: It includes a laminated glass loading platform, a steam heating box, a boiling water flushing box, a laminated glass unloading box, a laminated glass cleaning box, a film collecting platform, and a mechanical arm unloading platform; the steam heating box is connected to the laminated glass loading platform, the boiling water flushing box is connected to the steam heating box, the laminated glass unloading box is connected to the boiling water flushing box, the laminated glass cleaning box is connected to the laminated glass unloading box, the film collecting platform is placed below the laminated glass cleaning box, and the mechanical arm unloading platform is connected to the laminated glass cleaning box; The high-pressure boiling water spray head of the boiling water flushing box strongly flushes the adhesive film in the glass interlayer. By establishing a dynamic adjustment model for flushing time, the water flow pressure, water flow speed and spray angle are adjusted according to the adhesion strength of the adhesive film to dynamically adjust the flushing time. The formula of the dynamic adjustment model for flushing time is: Wherein, T is the time required for flushing; S is the adhesive strength of the film measured by the pressure sensor; A is the area of ​​the glass surface that needs to be cleared of the film; P is the water flow pressure generated by the high-pressure spray device; v is the water flow velocity sprayed by the spray head, and the relationship between the water flow velocity v, the water flow pressure P, and the water density ρ is: θ is the spray angle, that is, the angle between the spray head of the high-pressure spray device and the glass surface; k is the flushing efficiency coefficient.

2. The rapid and non-destructive sandwich product disassembly device according to claim 1 is characterized in that The laminated glass stripping box has a built-in hydraulic transmission suction cup, which is connected to a vacuum pump. The vacuum pump provides a clamping force for the hydraulic transmission suction cup. The clamping force is calculated as follows: F = P·AW·μ-F dyn , where P is the vacuum pressure generated by the vacuum pump; A is the adsorption area of ​​the hydraulic transmission suction cup, satisfying d is the diameter of the hydraulic suction cup; W is the weight of the glass, satisfying W = ρ·V·g, ρ is the density of the glass, V is the volume of the glass, and g is the acceleration of gravity; μ is the friction coefficient between the glass and the hydraulic suction cup; F dyn is the dynamic force generated by the acceleration when the glass is separated, satisfying F dyn =m·a, m is the mass of the glass, and a is the separation acceleration; if the clamping force F is greater than the maximum safe clamping force F that the glass can withstand max , then reduce the vacuum pressure generated by the vacuum pump to make F≤F max ; If the clamping force F is less than the minimum clamping force F at which the glass does not slide min , then increase the vacuum pressure generated by the vacuum pump to make F ≥ F min ; Always keep the clamping force F to meet F min ≤F≤F max .

3. The rapid and non-destructive sandwich product disassembly device according to claim 1 is characterized in that The laminated glass loading platform includes a support frame, a glass lifting arm and a conveyor belt. The support frame is made of steel and the surface is covered with a flexible protective pad. The support frame is connected to the glass lifting arm through a slide rail. The glass lifting arm is an automated mechanical arm. The conveyor belt is located between the support frame and the steam heating box. It is made of high-temperature resistant polyester and is equipped with a flexible anti-slip pad.

4. The rapid and non-destructive sandwich product disassembly device according to claim 1, characterized in that: The steam heating box includes a box body, a steam spray device, an infrared sensing probe, a steam heating device, a dehumidification and ventilation system and a glass conveyor belt; the box body is made of double-layer stainless steel material, the interlayer is filled with insulation material, and the interior is equipped with a corrosion-resistant coating; the steam spray device has a built-in steam spray head; the infrared sensing probe is evenly distributed on the upper and lower sides of the box body; the dehumidification and ventilation system monitors the humidity through a humidity sensor, the automatic dehumidification port is located at the top of the box body, and the ventilation device is located on the side of the box body; the glass conveyor belt is installed at the bottom of the box body.

5. The rapid and non-destructive sandwich product disassembly device according to claim 1, characterized in that: The boiling water flushing box includes a high-pressure spray device, a water circulation filtration system, a heating system, a conveyor belt and a drainage and water level control system. The body of the boiling water flushing box is made of closed stainless steel material, the inner wall is coated with a waterproof and anti-fouling coating, the interior is divided into a glass inlet area, a high-pressure flushing area and an outlet buffer area, and a transparent observation window is provided on the outside. The bottom of the boiling water flushing box is inclined, the high-pressure spray device is built-in with a high-pressure boiling water spray head, the water circulation filtration system is equipped with a three-stage filtration device including a primary coarse filter, a medium filter and a precision filtration device, the heating system is built-in with an electric heating device, and the drainage and water level control system includes a drain outlet with an automatic drain valve and a float sensor.

6. The rapid and non-destructive sandwich product disassembly device according to claim 1, characterized in that: The laminated glass stripping box includes a double-sided suction cup device, a separation mechanism, a sensor system and a conveyor belt. A transparent observation window and an LED lighting lamp are arranged on the outside of the box body. Hydraulic transmission suction cups are installed on both sides of the box body. The separation mechanism is equipped with an electric slide rail drive device, and the slide rail adopts a linear guide rail structure; the sensor system includes a pressure sensor, a displacement sensor and a photoelectric sensing device.

7. The rapid and non-destructive sandwich product disassembly device according to claim 1, characterized in that: The laminated glass cleaning box includes a cleaning drum, a high-pressure spray head, a brush, a film filter device, an air shower drying device and a conveyor belt. The inner wall of the laminated glass cleaning box adopts a waterproof and anti-fouling coating, and the outer wall has an insulation layer; the high-pressure spray head is distributed on the upper and lower sides of the cleaning area, the brush is made of soft nylon or PVA material and is distributed on both sides of the drum; the film filter device is equipped with a filter.

8. The rapid and non-destructive sandwich product disassembly device according to claim 1, characterized in that: The robotic arm lowering platform comprises a robotic arm, a glass support, a glass exit conveyor belt and a photoelectric sensor. The robotic arm has 5-6 axis degrees of freedom, and the glass support is an L-shaped or A-shaped support.

9. A method for non-destructive disassembly of laminated glass, characterized in that: A fast and non-destructive sandwich product disassembly device as described in any one of claims 1 to 8 comprises the following steps: Step S1, vertically placing the laminated glass to be delaminated on an L-shaped or A-shaped support frame; using the glass lifting arm of the laminated glass loading platform, the glass is firmly adsorbed and lifted from the support frame by a vacuum suction cup; after the mechanical arm adjusts the glass to a horizontal state, it is stably placed on a conveyor belt, and then the glass is transferred to a steam heating box through the conveyor belt; Step S2, after the laminated glass enters the steam heating box, the heating box automatically turns on the steam spray head by induction, sprays saturated steam evenly, and heats the glass surface and the interlayer film; Step S3, according to the thickness difference of the laminated glass, the surface temperature of the heated laminated glass is monitored in real time by the infrared sensing probe in the steam heating box; when the surface temperature of the glass reaches and meets the softening requirement of the laminated interlayer, the steam heating device automatically stops heating, and the conveyor belt starts to transfer the laminated glass to the boiling water flushing box; Step S4, after the laminated glass enters the boiling water flushing box, the adhesive film in the interlayer is strongly flushed by a high-pressure spray device; a dynamic adjustment model for flushing time is established, and the water flow pressure, water flow speed and spray angle are adjusted according to the adhesion strength of the adhesive film to dynamically adjust the flushing time; Step S5, the double-sided suction cups in the laminated glass stripping box respectively adsorb the two sides of the laminated glass, and the slide rail driving device uniformly applies force in opposite directions to separate the two sheets of laminated glass; the separated glass sheets are sequentially conveyed to the laminated glass cleaning box; Step S6, after the two separated laminated glasses enter the laminated glass cleaning box respectively, the residual laminated film on the glass surface is removed by the synergistic action of the cleaning roller and the brush; the removed film debris is carried by the water flow and filtered to the film collection platform, and the cleaning roller and the brush further clean the front and back sides of the glass; Step S7, the glass in the laminated glass washing box is dried by the air shower at the outlet and then transferred to the lower sheet platform of the robotic arm. The robotic arm of the lower sheet platform places the transferred single sheets of glass one by one on the L-shaped or A-shaped support frame.

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