Transfer equipment for glass processing

Abstract

The invention relates to the technical field of glass processing, in particular to glass processing transfer equipment which comprises a lifting assembly, the top of the lifting assembly is provided with an adsorption turnover mechanism used for controlling a glass plate at the top of a negative pressure suction cup to turn over, and the negative pressure suction cup is arranged at the top of the adsorption turnover mechanism; through the arrangement of the lower inclined plane column, the upper inclined plane column, the first servo motor, the parallelogram connecting rod set and other components, and through the innovative design of 45-degree inclined plane meshing and connecting rod space linkage, the adsorption turnover mechanism can synchronously drive the negative pressure suction cup to complete plane normal 90-degree steering through 180-degree rotation of the upper inclined plane column. When the glass needs to be transferred in a side-standing mode, the self-lubricating coating making contact with the inclined face reduces rotation resistance, angle closed-loop control of the rotary encoder is matched, it is guaranteed that the center of gravity of the glass is kept stable all the time in the overturning process of the suction cup set, and inertial impact of a traditional overturning mechanism is avoided.

Description

Technical Field

[0001] The present application relates to the technical field of glass processing, and in particular to a transfer device for glass processing. Background Art

[0003] Through retrieval, Chinese Patent Publication No. CN119706365A discloses a transfer device for glass processing and its usage method, including a conveying structure, a transmission structure, a linkage structure, a flipping structure, a truss structure, a connection structure, and a clamping structure. The outer wall of the conveying structure is snap-connected to the inner wall of the transmission structure. After the glass plate enters the flipping bin via the conveyor belt, the rubber transmission rollers on both sides clamp and straighten the glass plate inward, avoiding the situation that the glass plate breaks due to uneven overall stress caused by the inclination of the glass plate during the transfer of the glass plate. The glass plate can be safely placed from the flipping bin without manual handling, avoiding the breakage of the glass plate due to external forces during the transfer. After the glass plate enters the transfer table, it drives the transfer table to move downward under the influence of its own weight, and the glass plates can be stored in a segmented manner in sequence, avoiding scratches on the surface of the glass plate during storage.

[0004] In view of the above related technologies, the inventor found the following defects: The above device relies on the cooperation of the conveyor belt and the flipping bin to realize the flipping of the glass, and has limited control ability for the precise inversion of the glass plane direction and the angle of the normal direction, which may lead to uneven stress on the glass during the flipping process and there is a risk of breakage. The transmission design of the grasping mechanism is relatively cumbersome, which may increase mechanical transmission errors and energy consumption, and the movement accuracy is greatly affected by the structural stability. During long-term use, the transfer accuracy is likely to decrease due to friction loss. Summary of the Invention

[0005] In order to solve the problems mentioned in the above background art, the present application provides a transfer device for glass processing.

[0006] A transfer device for glass processing provided by the present application adopts the following technical solution: A transfer device for glass processing includes a lifting assembly, and a suction flipping mechanism for controlling the flipping of the glass plate on the top of the negative pressure suction cup is arranged on the top of the lifting assembly, and the negative pressure suction cup is arranged on the top of the suction flipping mechanism;

[0007] The lifting assembly includes a hydraulic lifting mechanism disposed on the top of the turntable and a flipping mechanism for controlling the rotation of the adsorption flipping mechanism and the negative pressure suction cup. The flipping mechanism includes a lower inclined surface column fixedly installed on the top of the output end of the hydraulic lifting mechanism, an installation cavity housing fixedly installed at an angle of 45° on one side of the lower inclined surface column, and an upper inclined surface column both provided with a 45° inclined cutting surface with the lower inclined surface column. A first servo motor is fixedly installed inside the installation cavity housing, and the output end of the first servo motor is fixedly connected to the inclined cutting surface of the upper inclined surface column. The upper inclined surface column is movably installed on one side of the lower inclined surface column;

[0008] Through the above solution, through the cooperation of the inclined surface column and the servo motor, precise angle adjustment of the adsorption assembly is achieved. At the same time, the inclined surface contact structure reduces movement friction and enhances the force transmission efficiency.

[0009] The adsorption flipping mechanism includes a glass plate grabbing mechanism capable of automatically lifting and a driving mechanism for driving the grabbing mechanism to move back and forth. The grabbing mechanism includes a lower support arm and an upper support arm fixedly connected by a diagonal brace plate, a short-distance lifting column movably connected to the top of the upper support arm, a gear for driving the short-distance lifting column to lift, and a rack meshing with the gear for transmission.

[0010] Through the above solution, by adopting the combined structure of a gear-rack and a parallelogram link, the height adjustment and translation functions of the grabbing mechanism are realized, ensuring the positioning accuracy of the glass plate.

[0011] Optionally, the hydraulic lifting mechanism includes a base fixedly installed on the top of the turntable and a hydraulic lifting rod for controlling the lifting of the adsorption flipping mechanism. The hydraulic lifting rod is fixedly installed on the top of the base.

[0012] Through the above solution, through the integrated design of the hydraulic lifting rod and the base, stable vertical movement support is provided to meet the transfer requirements at different heights.

[0013] Optionally, a top plate is fixedly installed on the top of the upper inclined surface column, and a bearing side plate is fixedly connected to one side of the top plate.

[0014] Through the above solution, by using the rigid connection between the top plate and the bearing side plate, the load-bearing capacity of the flipping mechanism is enhanced, and at the same time, a reliable installation foundation is provided for the transmission components.

[0015] Optionally, the driving mechanism includes a base fixedly installed on the top of the top plate, a transfer plate for carrying the negative pressure suction cup and the air pump, and a second servo motor fixedly installed at the bottom of the transfer plate. The output end of the second servo motor is fixedly connected to the rotating shaft of the gear reduction box, the output end of the gear reduction box is fixedly connected to the lead screw, a sliding plate is threadedly sleeved on one side of the lead screw, and the sliding plate is fixedly connected to the upper support arm and the lower support arm.

[0016] With the above solution, through the combination of screw drive and servo motor, the linear forward and backward movement of the grasping mechanism is realized, and the reduction gearbox is used to optimize the output torque and speed.

[0017] Optionally, when the upper inclined column rotates 180°, the movement trajectory of the glass plate adsorbed on the top of the negative pressure suction cup satisfies that the plane direction of the glass plate to be transported is reversed, the normal direction of the glass plate to be transported after rotation forms a 90° angle with the original direction, and its plane is coplanar with the longitudinal axis of the lower inclined column.

[0018] With the above solution, by limiting the flipping angle and trajectory, it is ensured that the glass plate maintains a controllable posture during the flipping process, avoiding deviation or collision caused by inertia.

[0019] Optionally, the rack is fixedly connected to the top of the base, and an internal thread groove adapted to the threaded rod at the top of the gear is provided at the bottom of the short-stroke lifting column.

[0020] With the above solution, through the double cooperation of thread meshing and rack drive, the precise lifting control of the lifting column is realized, and at the same time, the mechanical structure layout is simplified.

[0021] Optionally, one end of the screw rod away from the gear reduction box is movably installed on one side of the bearing side plate, and a vacuum interface connected to the negative pressure suction cup is provided at the top of the short-stroke lifting column.

[0022] With the above solution, the bearing side plate is used to support the end of the screw rod to reduce transmission vibration, and the integrated design of the vacuum interface optimizes the convenience of the gas path connection.

[0023] Optionally, a self-lubricating coating is provided on the contact surface between the lower inclined column and the upper inclined column, and a rotary encoder electrically connected to the first servo motor is provided inside the installation cavity housing.

[0024] With the above solution, the friction loss is reduced through the self-lubricating coating, and the control accuracy of the flipping angle is improved by combining the encoder feedback, thereby prolonging the service life of the equipment.

[0025] Optionally, a parallelogram link structure is formed between the upper support arm and the lower support arm, and the stroke length of the rack is not less than the maximum lifting stroke of the short-stroke lifting column.

[0026] With the above solution, the parallelogram link is used to ensure the stable posture of the grasping mechanism during the lifting process, and the matching design of the rack stroke avoids movement interference.

[0027] In summary, the present application includes the following beneficial technical effects:

[0028] 1. The present invention sets components such as an inclined plane column at the bottom, an inclined plane column at the top, a first servo motor, and a parallelogram link group. Through the innovative design of 45° inclined plane meshing and link spatial linkage, the adsorption and flipping mechanism can drive the negative pressure suction cup to complete a 90° turn of the plane normal through the 180° rotation of the inclined plane column at the top. When the glass needs to be transported in a side-standing manner, the self-lubricating coating in contact with the inclined plane reduces the rotation resistance. Combined with the angle closed-loop control of the rotary encoder, it ensures that the suction cup group always maintains the stability of the glass center of gravity during the flipping process, avoiding the inertial impact of the traditional flipping mechanism.

[0029] 2. The present invention sets components such as a hydraulic lifting rod, a lead screw sliding pair, and a gear-rack transmission group. Through the coordination of two degrees of freedom of vertical lifting and horizontal feeding, the negative pressure suction cup can achieve rapid station switching of the glass through the flexible lifting of the hydraulic lifting mechanism and the precise positioning driven by the lead screw. When multi-process machining is carried out, the buffering characteristics of the hydraulic mechanism avoid impact loads, and the backlash-free transmission of the lead screw ensures the repeated positioning accuracy of the adsorption points. Combined with the adaptive compensation of the short-distance lifting column of the adsorption and flipping mechanism, it solves the contradiction that it is difficult for the traditional single-drive mechanism to balance efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is the overall structure schematic diagram in the embodiment of the present application;

[0031] Figure 2 is the partial structure schematic diagram in the embodiment of the present application;

[0032] Figure 3 is the partial structure schematic diagram of the lifting assembly in the embodiment of the present application;

[0033] Figure 4 is the installation schematic diagram of the partial structure of the lifting assembly in the embodiment of the present application;

[0034] Figure 5 is the main structure schematic diagram of the adsorption and flipping mechanism in the embodiment of the present application;

[0035] Figure 6 is the partial structure schematic diagram of the adsorption and flipping mechanism in the embodiment of the present application;

[0036] Figure 7 is the installation schematic diagram of the partial structure of the adsorption and flipping mechanism in the embodiment of the present application;

[0037] Reference Numerals: 1, lifting assembly; 101, base; 102, hydraulic lifting rod; 103, lower inclined surface column; 104, outer shell of installation cavity; 105, first servo motor; 106, upper inclined surface column; 107, top plate; 108, bearing side plate; 2, adsorption and flipping mechanism; 201, base; 202, transfer plate; 203, second servo motor; 204, gear reduction box; 205, lead screw; 206, sliding plate; 207, lower support arm; 208, upper support arm; 209, short-distance lifting column; 210, internal thread groove; 211, gear; 212, rack; 3, negative pressure suction cup. Detailed Description of the Embodiment

[0038] The following further elaborates on this application in conjunction with the attached Figures 1-7 drawings.

[0039] The embodiment of this application discloses a transfer device for glass processing.

[0040] Please refer to Figure 1 , a transfer device for glass processing, including a lifting assembly 1. At the top of the lifting assembly 1, there is an adsorption and flipping mechanism 2 for controlling the flipping of the glass plate at the top of the negative pressure suction cup 3. The negative pressure suction cup 3 is arranged at the top of the adsorption and flipping mechanism 2;

[0041] Please refer to Figures 2 to 4 , the lifting assembly 1 includes a hydraulic lifting mechanism arranged on the top of the turntable and a flipping mechanism for controlling the rotation of the adsorption and flipping mechanism 2 and the negative pressure suction cup 3. The flipping mechanism includes a lower inclined surface column 103 fixedly installed at the top of the output end of the hydraulic lifting mechanism, an outer shell of installation cavity 104 fixedly installed at an angle of 45° on one side of the lower inclined surface column 103, and an upper inclined surface column 106 both having 45° inclined cutting surfaces with the lower inclined surface column 103. Inside the outer shell of installation cavity 104, there is a first servo motor 105 fixedly installed. The output end of the first servo motor 105 is fixedly connected to the inclined cutting surface of the upper inclined surface column 106. The upper inclined surface column 106 is movably installed on one side of the lower inclined surface column 103;

[0042] The hydraulic lifting mechanism includes a base 101 fixedly installed on the top of the turntable and a hydraulic lifting rod 102 for controlling the lifting of the adsorption and flipping mechanism 2. The hydraulic lifting rod 102 is fixedly installed on the top of the base 101.

[0043] At the top of the upper inclined surface column 106, there is a top plate 107 fixedly installed. On one side of the top plate 107, there is a bearing side plate 108 fixedly connected.

[0044] When the upper inclined surface column 106 rotates 180°, the movement trajectory of the glass plate adsorbed on the top of the negative pressure suction cup 3 satisfies that the plane direction of the glass plate to be transferred is reversed by itself. After rotation, the normal direction of the glass plate to be transferred forms a 90° angle with the original direction, and its plane is coplanar with the longitudinal axis of the lower inclined surface column 103.

[0045] A self-lubricating coating is provided on the contact surface between the lower inclined surface column 103 and the upper inclined surface column 106, and a rotary encoder electrically connected to the first servo motor 105 is provided inside the installation cavity housing 104.

[0046] It should be further explained that: The lifting assembly 1 is the basic support and spatial positioning core mechanism of the transfer equipment, with dual functions of vertical lifting and planar rotation. Its hydraulic lifting mechanism is fixed to the top of the turntable through the base 101, and the hydraulic lifting rod 102 can drive the upper structure to achieve high-precision vertical lifting, meeting the height difference requirements of different processing stations, ensuring that the negative pressure suction cup 3 can accurately dock with the glass storage rack or processing equipment. The flipping mechanism realizes a 180° rotation driven by the first servo motor 105 through the cooperation of the lower inclined surface column 103 and the upper inclined surface column 106 with a 45° inclined plane. This design enables the glass plate adsorbed on the negative pressure suction cup 3 to form a 90° angle between the plane normal direction and the original direction during rotation, and the plane is coplanar with the longitudinal axis of the lower inclined surface column 103, thus completing the attitude flipping of the glass plate to adapt to the requirements of front and back processing or different station angles in glass processing. In addition, the self-lubricating coating on the contact surface and the built-in rotary encoder ensure the smoothness of the rotation process and the angle control accuracy, avoiding collisions or stress damage to the glass due to improper attitude adjustment.

[0047] Please refer to Figures 5 to 7 , the adsorption and flipping mechanism 2 includes a glass plate grasping mechanism capable of automatically lifting and a driving mechanism for driving the grasping mechanism to move back and forth. The grasping mechanism includes a lower support arm 207 and an upper support arm 208 fixedly connected through a diagonal brace plate, a short-distance lifting column 209 movably connected to the top of the upper support arm 208, a gear 211 for driving the short-distance lifting column 209 to lift, and a rack 212 meshing with the gear 211 for transmission.

[0048] The driving mechanism includes a base 201 fixedly installed on the top of the top plate 107, a transfer plate 202 for carrying the negative pressure suction cup 3 and the air pump, and a second servo motor 203 fixedly installed at the bottom of the transfer plate 202. The output end of the second servo motor 203 is fixedly connected to the rotating shaft of the gear reduction box 204, the output end of the gear reduction box 204 is fixedly connected to the lead screw 205, a sliding plate 206 is threadedly sleeved on one side of the lead screw 205, and the sliding plate 206 is fixedly connected to the upper support arm 208 and the lower support arm 207.

[0049] The rack 212 is fixedly connected to the top of the base 201, and an internal thread groove 210 adapted to the top threaded rod of the gear 211 is provided at the bottom of the short-distance lifting column 209.

[0050] One end of the lead screw 205 away from the gear reduction box 204 is movably installed on one side of the bearing side plate 108, and a vacuum interface connected to the negative pressure suction cup 3 is provided at the top of the short-distance lifting column 209.

[0051] A parallelogram connecting rod structure is formed between the upper supporting arm 208 and the lower supporting arm 207 , and the stroke length of the rack 212 is not less than the maximum lifting stroke of the short-distance lifting column 209 .

[0052] It needs to be further explained that the adsorption flip mechanism 2 is an actuator that realizes glass grabbing, position adjustment and posture fine-tuning. The grabbing mechanism and the driving mechanism work together. The grabbing mechanism forms a parallelogram connecting rod structure by connecting the lower support arm 207 and the upper support arm 208 through the diagonal support plate to ensure the stability of the short-distance lifting column 209 during vertical lifting and avoid glass tilting. The meshing transmission design of the gear 211 and the rack 212 enables the short-distance lifting column 209 to be lifted and lowered accurately at the millimeter level according to the glass thickness or the height difference of the workstation. The vacuum interface on the top is connected to the negative pressure suction cup 3, and the vacuum adsorption force is formed by the air pump to stabilize the glass. To grab the glass, the driving mechanism drives the lead screw 205 to rotate through the second servo motor 203 and the gear reducer 204, driving the sliding plate 206 to move back and forth along the lead screw 205, thereby pushing the grabbing mechanism to translate as a whole, thereby realizing the horizontal position calibration of the glass. The parallelogram connecting rod structure and the stroke design of the rack 212 of the mechanism ensure that the glass maintains a stable plane during movement, avoiding adsorption failure or glass breakage due to shaking. At the same time, with the rotation function of the lifting component 1, it can complete complex posture conversions such as horizontal grabbing of the glass to vertical placement, meeting the multi-process and multi-angle transportation requirements in glass processing.

[0053] The implementation principle of a glass processing transfer device in the embodiment of the present application is as follows:

[0054] First, the hydraulic lifting mechanism in the lifting assembly 1 starts to operate. The base 101 fixed on the top of the turntable supports the hydraulic lifting rod 102. Driven by the hydraulic system, the hydraulic lifting rod 102 drives the entire upper structure to rise and fall vertically. According to the actual height of the glass storage rack or processing equipment, the vertical position of the negative pressure suction cup 3 is accurately adjusted to ensure that it can accurately dock with the glass.

[0055] Secondly, the grabbing mechanism in the adsorption and flipping mechanism 2 performs the glass grabbing operation. The lower support arm 207 and the upper support arm 208 connected by the diagonal support plate form a stable parallelogram connecting rod structure. The meshing transmission of the gear 211 and the rack 212 drives the short-distance lifting column 209 to rise and fall, so that the vacuum interface on the top is in contact with the glass surface. Then the air pump is started to form a vacuum adsorption force between the negative pressure suction cup 3 and the glass through the vacuum interface to firmly grab the glass.

[0056] Next, the driving mechanism comes into play to achieve the horizontal position calibration of the glass. The second servo motor 203 drives the gear reduction box 204, driving the lead screw 205 to rotate. The sliding plate 206 threadedly sleeved on the lead screw 205 moves back and forth along the direction of the lead screw 205, thereby pushing the grasping mechanism and the adsorbed glass as a whole to translate, precisely adjusting the position of the glass in the horizontal direction to meet the requirements of the processing station.

[0057] Next, the flipping mechanism of the lifting assembly 1 starts to work. Driven by the first servo motor 105, the upper inclined surface column 106 with a 45° inclined surface cooperates with the lower inclined surface column 103 to achieve a 180° rotation. During this process, the glass plate adsorbed on the negative pressure suction cup 3 flips accordingly, and the direction of its plane normal forms a 90° angle with the original direction, and the plane is coplanar with the longitudinal axis of the lower inclined surface column 103, completing the attitude conversion of the glass to meet the requirements of different processing procedures for the glass angle.

[0058] Finally, the hydraulic lifting mechanism operates again. The glass with the adjusted attitude and position is lowered to the target processing station or storage rack through the hydraulic lifting rod 102. The air pump stops working to release the vacuum adsorption, and the glass is placed steadily, completing the entire transfer process.

[0059] The above are all the preferred embodiments of this application. The protection scope of this application is not limited by this. Therefore, all equivalent changes made according to the structure, shape, and principle of this application should be covered within the protection scope of this application.

Claims

1. A transfer device for glass processing, comprising a lifting assembly (1), characterized in that: At the top of the lifting assembly (1), there is an adsorption and flipping mechanism (2) for controlling the flipping of the glass plate at the top of the negative pressure suction cup (3), and the negative pressure suction cup (3) is arranged at the top of the adsorption and flipping mechanism (2). The lifting assembly (1) includes a hydraulic lifting mechanism arranged at the top of the turntable and a flipping mechanism for controlling the rotation of the adsorption and flipping mechanism (2) and the negative pressure suction cup (3). The flipping mechanism includes a lower inclined surface column (103) fixedly installed at the top of the output end of the hydraulic lifting mechanism, an installation cavity housing (104) fixedly installed at a 45° inclination on one side of the lower inclined surface column (103), and an upper inclined surface column (106) both having a 45° inclined cut surface with the lower inclined surface column (103). Inside the installation cavity housing (104), a first servo motor (105) is fixedly installed, and the output end of the first servo motor (105) is fixedly connected to the inclined cut surface of the upper inclined surface column (106). The upper inclined surface column (106) is movably installed on one side of the lower inclined surface column (103). The adsorption and flipping mechanism (2) includes a glass plate grasping mechanism capable of automatic lifting and a driving mechanism for driving the grasping mechanism to move back and forth. The grasping mechanism includes a lower support arm (207) and an upper support arm (208) fixedly connected by a diagonal brace plate, a short-distance lifting column (209) movably connected to the top of the upper support arm (208), a gear (211) for driving the short-distance lifting column (209) to lift, and a rack (212) meshing and driving with the gear (211).

2. The transfer device for glass processing according to claim 1, characterized in that: The hydraulic lifting mechanism includes a base (101) fixedly installed at the top of the turntable and a hydraulic lifting rod (102) for controlling the lifting of the adsorption and flipping mechanism (2). The hydraulic lifting rod (102) is fixedly installed at the top of the base (101).

3. A transfer device for glass processing according to claim 1, characterized in that: At the top of the upper inclined surface column (106), a top plate (107) is fixedly installed, and a bearing side plate (108) is fixedly connected to one side of the top plate (107).

4. A transfer device for glass processing according to claim 1, characterized in that: The driving mechanism includes a base (201) fixedly installed at the top of the top plate (107), a transfer plate (202) for carrying the negative pressure suction cup (3) and the air pump, and a second servo motor (203) fixedly installed at the bottom of the transfer plate (202). The output end of the second servo motor (203) is fixedly connected to the rotating shaft of a gear reduction box (204). The output end of the gear reduction box (204) is fixedly connected to a lead screw (205). A sliding plate (206) is threadedly sleeved on one side of the lead screw (205), and the sliding plate (206) is fixedly connected to the upper support arm (208) and the lower support arm (207).

5. A transfer device for glass processing according to claim 3, characterized in that: When the upper inclined surface column (106) rotates 180°, the movement trajectory of the glass plate adsorbed on the top of the negative pressure suction cup (3) satisfies that the plane direction of the glass plate to be transported is reversed by itself, and after rotation, the normal direction of the glass plate to be transported forms a 90° angle with the original direction, and its plane is coplanar with the longitudinal axis of the lower inclined surface column (103).

6. A transfer device for glass processing according to claim 1, characterized in that: The rack (212) is fixedly connected to the top of the base (201), and an internal thread groove (210) adapted to the top threaded rod of the gear (211) is provided at the bottom of the short-stroke lifting column (209).

7. A transfer device for glass processing according to claim 4, characterized in that: One end of the lead screw (205) away from the gear reduction box (204) is movably installed on one side of the bearing side plate (108), and a vacuum interface connected to the negative pressure suction cup (3) is provided at the top of the short-stroke lifting column (209).

8. A transfer device for glass processing according to claim 1, characterized in that: A self-lubricating coating is provided on the contact surface between the lower inclined column (103) and the upper inclined column (106), and a rotary encoder electrically connected to the first servo motor (105) is provided in the installation cavity housing (104).

9. The transfer device for glass processing according to claim 1, characterized in that: A parallelogram link structure is formed between the upper support arm (208) and the lower support arm (207), and the stroke length of the rack (212) is not less than the maximum lifting stroke of the short-stroke lifting column (209).

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