Hollow glass spacing bar frame clamping and positioning method

Abstract

The invention discloses a hollow glass spacing bar frame clamping and positioning method. The method comprises the steps that a first piece of glass is moved to a preset position of a hollow glass supporting mechanism; according to the position corresponding to the upper edge of the first piece of glass and the preset distance between the hollow glass spacing bar frame and the upper edge of the first piece of glass, a first moving mechanism used for clamping the spacing bar frame is controlled to move to the position corresponding to the upper straight section of the hollow glass spacing bar frame in the first direction; the first moving mechanism is provided with a plurality of first clamping jaw mechanisms arranged in the second direction. And the like. According to the hollow glass spacing bar frame, the problem that the horizontal straightness of the spacing bar frame drops when the spacing bar frame is clamped for frame feeding due to the fact that the spacing bar frame is too long can be solved, accurate positioning of glass can be achieved, and meanwhile the position of the hollow glass spacing bar frame can be adjusted so that the distance between the hollow glass spacing bar frame and the outer edge of the glass can be accurately positioned.

Description

Technical Field

[0001] The present invention relates to the technical field of insulating glass manufacturing, and particularly relates to a method for clamping and positioning an insulating glass spacer frame. Background Art

[0002] Currently, the insulating glass spacer frame is manually loaded onto the frame. The positioning is inaccurate, it is easy to stain fingerprints, and it is easy to cause pollution to the glass. Especially when loading a large-sized (generally with a length exceeding about 2 meters) spacer frame, due to the length, the spacer frame will have a large deformation, which will probably affect the product quality.

[0003] In addition, the current process for loading a large-sized spacer frame is that workers stand above the lift to operate. There is a possibility of misoperation, and due to the large size of the spacer frame, there is a certain possibility of falling, and the risk and safety hazard are great. Summary of the Invention

[0004] In order to overcome the above-mentioned defects of the prior art, the technical problem to be solved by the embodiments of the present invention is to provide a method for clamping and positioning an insulating glass spacer frame, which can not only solve the problem that the horizontal straightness of the spacer frame will sag during the process of being clamped and loaded due to the excessive length of the spacer frame, but also can accurately position the glass while adjusting the position of the insulating glass spacer frame so that it can accurately position the distance from the outer edge of the glass.

[0005] The specific technical solution of the embodiment of the present invention is as follows:

[0006] A method for clamping and positioning an insulating glass spacer frame, the method for clamping and positioning the insulating glass spacer frame includes:

[0007] Move the first piece of glass to a preset position of the insulating glass support mechanism;

[0008] According to the position corresponding to the upper edge of the first piece of glass and the preset distance between the insulating glass spacer frame and the upper edge of the first piece of glass, control the first moving mechanism for clamping the spacer frame to move along the first direction to the position corresponding to the upper straight section of the insulating glass spacer frame. The first moving mechanism has a plurality of first jaw mechanisms arranged along the second direction; according to the position corresponding to the lower edge of the first piece of glass and the preset distance between the insulating glass spacer frame and the lower edge of the first piece of glass, control the second moving mechanism for clamping the spacer frame to move along the first direction to the position corresponding to the lower straight section of the insulating glass spacer frame. The second moving mechanism has a plurality of second jaw mechanisms arranged along the second direction; the second direction is the horizontal direction.

[0009] When the insulating glass spacer frame is conveyed in front of the first piece of glass, the insulating glass spacer frame clamping mechanism is moved in the third direction, and a plurality of the first jaw mechanisms extend in the third direction and clamp the upper straight section of the insulating glass spacer frame according to the linearity of the upper edge of the first piece of glass, so that the upper straight section of the insulating glass spacer frame remains in a straight state. A plurality of the second jaw mechanisms extend in the third direction and clamp the lower straight section of the insulating glass spacer frame according to the linearity of the lower edge of the first piece of glass, so that the lower straight section of the insulating glass spacer frame remains in a straight state.

[0010] Preferably, the step of moving the first piece of glass to a preset position of the insulating glass support mechanism includes:

[0011] After the first piece of glass enters the insulating glass support mechanism, the conveying mechanism supports the lower end of the first piece of glass, and the movement control is performed by rotating the conveying mechanism. The positioning unit is used to detect whether the first piece of glass moves to the preset position.

[0012] Preferably, the step of controlling the first moving mechanism to move in the first direction to a position corresponding to the upper straight section of the insulating glass spacer frame according to the position corresponding to the upper edge of the first piece of glass and the preset distance between the insulating glass spacer frame and the edge of the first piece of glass includes:

[0013] Control the first moving mechanism to move in the first direction until it stops when the first positioning unit detects that the first jaw mechanism reaches a position corresponding to the upper edge of the first piece of glass; after completing the reference positioning between the first moving mechanism and the edge of the first piece of glass, according to the preset distance between the insulating glass spacer frame and the upper edge of the first piece of glass, control the first jaw mechanism to move in the first direction to a position corresponding to the upper straight section of the insulating glass spacer frame;

[0014] The step of controlling the second moving mechanism to move in the first direction to a position corresponding to the lower straight section of the insulating glass spacer frame according to the position corresponding to the lower edge of the first piece of glass and the preset distance between the insulating glass spacer frame and the edge of the first piece of glass includes:

[0015] Control the second moving mechanism to move in the first direction until it stops when the second positioning unit detects that the second jaw mechanism reaches a position corresponding to the lower edge of the first piece of glass; after completing the reference positioning between the second moving mechanism and the edge of the first piece of glass, according to the preset distance between the insulating glass spacer frame and the lower edge of the first piece of glass, control the second jaw mechanism to move in the first direction to a position corresponding to the lower straight section of the insulating glass spacer frame.

[0016] Preferably, the insulating glass spacer frame clamping and positioning method is applied to an insulating glass spacer frame clamping mechanism, and the insulating glass spacer frame clamping mechanism includes:

[0017] The first vertical movement mechanism includes: a first guide rail mechanism extending in a first direction; a first movement mechanism; a first driving module, and the first movement mechanism can move along the first direction on the first guide rail mechanism through the first driving module; the first movement mechanism includes: a first cross bar on which a plurality of the first jaw mechanisms are installed; a second cross bar, and the second cross bar can move along the first direction on the first guide rail mechanism through the first driving module; a fifth driving module, and the first cross bar can move relative to the second cross bar along the first direction through the fifth driving module;

[0018] The second vertical movement mechanism includes: a second movement mechanism; a second driving module, and the second movement mechanism can move along the first direction through the second driving module; the second movement mechanism includes: a fourth cross bar, and the fourth cross bar can move along the first direction through the second driving module; a third cross bar on which a plurality of the second jaw mechanisms are installed; a sixth driving module, and the third cross bar can move relative to the fourth cross bar along the first direction through the sixth driving module;

[0019] The first movement mechanism and the second movement mechanism are arranged side by side in the first direction.

[0020] Preferably, control the first driving module to operate so that the first movement mechanism moves along the first direction until the first positioning unit detects that the first jaw mechanism reaches the position corresponding to the upper edge of the first piece of glass and then stops; after the reference positioning of the first movement mechanism and the edge of the first piece of glass is completed, according to the preset distance between the insulating glass spacer frame and the edge of the first piece of glass, control the fifth driving module to operate so that the first cross bar moves in the first direction, so that the first jaw mechanism moves to the position corresponding to the upper straight section of the insulating glass spacer frame;

[0021] Control the second driving module to operate so that the second movement mechanism moves along the first direction until the second positioning unit detects that the second jaw mechanism reaches the position corresponding to the lower edge of the first piece of glass and then stops; after the reference positioning of the second movement mechanism and the edge of the first piece of glass is completed, according to the preset distance between the insulating glass spacer frame and the edge of the first piece of glass, control the sixth driving module to operate so that the third cross bar moves in the first direction, so that the second jaw mechanism moves to the position corresponding to the lower straight section of the insulating glass spacer frame.

[0022] Preferably, the method for clamping and positioning the insulating glass spacer frame further includes:

[0023] Control the third moving mechanism to move along the second direction to the position corresponding to the left straight section of the insulating glass spacer frame according to the position corresponding to the left edge of the first piece of glass and the preset distance between the insulating glass spacer frame and the left edge of the first piece of glass. The third moving mechanism has a plurality of third jaw mechanisms arranged along the first direction; control the fourth moving mechanism to move along the second direction to the position corresponding to the right straight section of the insulating glass spacer frame according to the position corresponding to the right edge of the first piece of glass and the preset distance between the insulating glass spacer frame and the right edge of the first piece of glass. The fourth moving mechanism has a plurality of fourth jaw mechanisms arranged along the first direction.

[0024] When the insulating glass spacer frame is conveyed in front of the first piece of glass, move the insulating glass spacer frame clamping mechanism in the third direction so that a plurality of the third jaw mechanisms extend in the third direction and clamp the left straight section of the insulating glass spacer frame, and a plurality of the fourth jaw mechanisms extend in the third direction and clamp the right straight section of the insulating glass spacer frame.

[0025] Preferably, in the step of controlling the third moving mechanism to move along the second direction to the position corresponding to the left straight section of the insulating glass spacer frame according to the position corresponding to the left edge of the first piece of glass and the preset distance between the insulating glass spacer frame and the left edge of the first piece of glass, it includes:

[0026] Control the third moving mechanism to move along the second direction and stop when the third positioning unit detects that the third jaw mechanism reaches the position corresponding to the left edge of the first piece of glass; after completing the reference positioning of the third moving mechanism and the edge of the first piece of glass, according to the preset distance between the insulating glass spacer frame and the left edge of the first piece of glass, control the third jaw mechanism to move in the second direction to the position corresponding to the left straight section of the insulating glass spacer frame.

[0027] In the step of controlling the fourth moving mechanism to move along the second direction to the position corresponding to the right straight section of the insulating glass spacer frame according to the position corresponding to the right edge of the first piece of glass and the preset distance between the insulating glass spacer frame and the right edge of the first piece of glass, it includes:

[0028] Control the fourth moving mechanism to move along the second direction and stop when the fourth positioning unit detects that the fourth jaw mechanism reaches the position corresponding to the right edge of the first piece of glass; after completing the reference positioning of the fourth moving mechanism and the edge of the first piece of glass, according to the preset distance between the insulating glass spacer frame and the right edge of the first piece of glass, control the fourth jaw mechanism to move in the second direction to the position corresponding to the right straight section of the insulating glass spacer frame.

[0029] Preferably, the insulating glass spacer frame clamping and positioning method is applied to an insulating glass spacer frame clamping mechanism, and the insulating glass spacer frame clamping mechanism includes:

[0030] A second guide rail mechanism extending in a second direction;

[0031] A first horizontal movement mechanism, comprising: a third movement mechanism having a plurality of third jaw mechanisms arranged in a first direction; a third drive module, the third movement mechanism being movable along the second direction on the second guide rail mechanism through the third drive module; the third movement mechanism comprising: a first vertical rod mounted with a plurality of the third jaw mechanisms; a second vertical rod, the second vertical rod being cooperatively mounted with the second guide rail mechanism through the third drive module and being movable along the second direction on the second guide rail mechanism; a ninth drive module, the first vertical rod being movable relative to the second vertical rod along the second direction through the ninth drive module;

[0032] A second horizontal movement mechanism, comprising: a fourth movement mechanism having a plurality of fourth jaw mechanisms arranged in a first direction; a fourth drive module, the fourth movement mechanism being movable along the second direction on the second guide rail mechanism through the fourth drive module; the fourth movement mechanism comprising: a third vertical rod mounted with a plurality of the fourth jaw mechanisms; a fourth vertical rod, the fourth vertical rod being cooperatively mounted with the second guide rail mechanism through the fourth drive module and being movable along the second direction on the second guide rail mechanism; a tenth drive module, the third vertical rod being movable relative to the fourth vertical rod along the second direction through the tenth drive module;

[0033] The third movement mechanism and the fourth movement mechanism are arranged side by side in the second direction.

[0034] Preferably, control the third drive module to operate so that the third movement mechanism moves along the second direction until the third positioning unit detects that the third jaw mechanism reaches a position corresponding to the left edge of the first piece of glass and then stops; after completing the reference positioning of the third movement mechanism and the edge of the first piece of glass, control the ninth drive module to operate so that the first vertical rod moves in the second direction, so that the third jaw mechanism moves to a position corresponding to the left straight section of the insulating glass spacer frame;

[0035] Control the fourth movement mechanism to operate so that the fourth movement mechanism moves along the second direction until the fourth positioning unit detects that the fourth jaw mechanism reaches a position corresponding to the right edge of the first piece of glass and then stops; after completing the reference positioning of the fourth movement mechanism and the edge of the first piece of glass, control the tenth drive module to operate so that the third vertical rod moves in the second direction, so that the fourth jaw mechanism moves to a position corresponding to the right straight section of the insulating glass spacer frame.

[0036] Preferably, the first moving mechanism includes: a first longitudinal rod fixedly connected to the second cross bar; a second longitudinal rod, which is cooperatively installed with the first guide rail mechanism through the first driving module and can move along the first direction on the first guide rail mechanism; a seventh driving module, through which the first longitudinal rod can move relative to the second longitudinal rod along a third direction;

[0037] Before moving the first piece of glass to a preset position of the insulating glass support mechanism, control the seventh driving module to operate so that the first cross bar, the second cross bar, and the fifth driving module, which are provided with a plurality of the first jaw mechanisms, move away from the insulating glass support mechanism along the third direction;

[0038] The insulating glass spacer frame clamping mechanism further includes:

[0039] A telescopic mechanism having an eighth driving module, the telescopic end of the telescopic mechanism can telescopically move along the third direction under the action of the eighth driving module, and the fourth cross bar can move relative to the telescopic end along the first direction through the second driving module;

[0040] Before moving the first piece of glass to a preset position of the insulating glass support mechanism, control the eighth driving module to operate so that the third cross bar, the fourth cross bar, the second driving module, and the sixth driving module, which are provided with a plurality of the second jaw mechanisms, move away from the insulating glass support mechanism.

[0041] Preferably, the positions of the first cross bar, the second cross bar, and the fifth driving module, and the positions of the components of the third cross bar, the fourth cross bar, the second driving module, and the sixth driving module are closer to the insulating glass support mechanism compared to the positions of the components of the first vertical rod, the second vertical rod, the third vertical rod, and the fourth vertical rod.

[0042] Preferably, the telescopic mechanism includes: a first fixed seat, a second fixed seat, an eighth driving module, a telescopic member, and a sliding rod; the eighth driving module is a cylinder, the sliding rod passes through the first fixed seat and the second fixed seat, the housing of the cylinder is respectively fixedly arranged on the first fixed seat and the second fixed seat, and the telescopic member is connected to the telescopic end of the cylinder and the part of the sliding rod protruding out of the second fixed seat; the telescopic member can move in the third direction under the action of the telescopic end of the cylinder.

[0043] Preferably, the bottoms of the insulating glass support mechanism and the insulating glass spacer frame clamping mechanism are both installed on the same track;

[0044] When the insulating glass spacer frame is conveyed in front of the first piece of glass, control the total control mechanism to drive the insulating glass support mechanism and the insulating glass spacer frame clamping mechanism to move together in the third direction, so that all the jaw mechanisms extend in the third direction and clamp the insulating glass spacer frame at the position corresponding to the jaw mechanism.

[0045] Preferably, there is another insulating glass support mechanism with a second piece of glass directly in front of the insulating glass support mechanism, and the position of the second piece of glass on the other insulating glass support mechanism corresponds to the position of the first piece of glass on the insulating glass support mechanism;

[0046] The method for clamping and positioning the insulating glass spacer frame further includes:

[0047] After the jaw mechanism clamps the insulating glass spacer frame, move the insulating glass spacer frame clamping mechanism in the third direction, so that the insulating glass spacer frame on the jaw mechanism is attached to the second piece of glass on the other insulating glass support mechanism;

[0048] After the insulating glass spacer frame is attached, control the first moving mechanism, the second moving mechanism, the third moving mechanism and the fourth moving mechanism to move away from the insulating glass spacer frame in the first direction and the second direction, move the insulating glass support mechanism closer to the other insulating glass support mechanism, and laminate the first piece of glass and the second piece of glass with the insulating glass spacer frame to form an insulating glass.

[0049] The technical solution of the present invention has the following remarkable beneficial effects:

[0050] 1. When the insulating glass spacer frame clamping upper frame mechanism needs to clamp the insulating glass spacer frame, the first moving mechanism moves along the first direction on the first guide rail mechanism to the position corresponding to the upper straight section of the insulating glass spacer frame, and the second moving mechanism moves along the first direction to the position corresponding to the lower straight section of the insulating glass spacer frame. The total control mechanism drives the insulating glass spacer frame clamping upper frame mechanism to move in the third direction, so that all the jaw mechanisms extend in the third direction. A plurality of first jaw mechanisms clamp the upper straight section of the insulating glass spacer frame, and a plurality of second jaw mechanisms clamp the lower straight section of the insulating glass spacer frame. The insulating glass spacer frame at the position corresponding to the jaw mechanism is clamped in the above manner, so that the horizontal straightness of the upper straight section and the lower straight section will not sag during the process of clamping and upper framing the insulating glass spacer frame, thereby improving the accuracy of the upper framing position of the insulating glass spacer frame.

[0051] 2. The method for clamping and positioning the insulating glass spacer frame in the present application can be applied to the assembly station of the insulating glass production line. The glass edge can be located first, and then based on the glass edge, the size of the insulating glass spacer frame and the glass edge can be automatically adjusted according to the size change of the glass, ensuring that the four straight sections of the insulating glass spacer frame always maintain a preset distance from the glass edge, so as to accurately position the size distance of the insulating glass spacer frame relative to the glass, and this process can prepare for precise fully automatic framing.

[0052] With reference to the following description and drawings, specific embodiments of the present invention are disclosed in detail, indicating how the principles of the present invention can be employed. It should be understood that the embodiments of the present invention are not limited in scope thereby. Features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, combined with features in other embodiments, or substituted for features in other embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The drawings described herein are for illustrative purposes only and are not intended to limit the scope of the present invention in any way. In addition, the shapes and proportional dimensions of the various components in the drawings are merely illustrative and are used to help understand the present invention, and are not intended to specifically limit the shapes and proportional dimensions of the various components of the present invention. Those skilled in the art can select various possible shapes and proportional dimensions to implement the present invention according to specific circumstances under the guidance of the present invention.

[0054] Figure 1 Flowchart of the steps of the method for clamping and positioning the insulating glass spacer frame in an embodiment of the present invention;

[0055] Figure 2 Schematic diagram of the structure of the insulating glass spacer frame clamping mechanism in an embodiment of the present invention;

[0056] Figure 3 Schematic diagram of the structure of the insulating glass spacer frame clamping mechanism and the insulating glass support mechanism after coordination in an embodiment of the present invention;

[0057] Figure 4 Schematic diagram of the structure of the first up and down moving mechanism in an embodiment of the present invention;

[0058] Figure 5 Schematic diagram of the structure of the second up and down moving mechanism in an embodiment of the present invention;

[0059] Figure 6 Schematic diagram of the structure of the second guide rail mechanism equipped with the first horizontal movement mechanism or the second horizontal movement mechanism in an embodiment of the present invention;

[0060] Figure 7Side view of the hollow glass support mechanism in the embodiment of the present invention;

[0061] Figure 8 Right view of the upper frame clamping mechanism for the hollow glass spacer frame in the embodiment of the present invention;

[0062] Figure 9 Is Figure 8 Enlarged view of part A in

[0063] Figure 10 Front view of the upper frame clamping mechanism for the hollow glass spacer frame in the embodiment of the present invention;

[0064] Figure 11 Is Figure 10 Enlarged view of part B in

[0065] Reference numerals of the above drawings:

[0066] 1. First guide rail mechanism; 2. First moving mechanism; 21. First jaw mechanism; 22. First cross bar; 23. Second cross bar; 24. Fifth drive module; 25. First longitudinal bar; 26. Second longitudinal bar; 27. Seventh drive module; 28. Eleventh drive module; 29. First positioning unit; 3. First drive module; 4. Second moving mechanism; 41. Second jaw mechanism; 42. Third cross bar; 43. Fourth cross bar; 44. Sixth drive module; 5. Second drive module; 6. Second guide rail mechanism; 7. Third moving mechanism; 71. Third jaw mechanism; 72. Third positioning unit; 8. Fourth moving mechanism; 81. Fourth jaw mechanism; 82. Third vertical bar; 83. Fourth vertical bar; 84. Tenth drive module; 85. Thirteenth drive module; 9. Fourth drive module; 10. Telescopic mechanism; 101. Eighth drive module; 102. First fixed seat; 103. Second fixed seat; 104. Telescopic member; 105. Slide bar; 11. Third drive module; 100. Hollow glass spacer frame clamping mechanism; 200. Hollow glass support mechanism; 2001. Swing mechanism; 2002. Rotating shaft; 2003. Support plate; 2004. Roller; 2005. Power unit; 300. Hollow glass spacer frame; 400. Glass. Detailed implementation manners

[0067] Combined with the accompanying drawings and the description of the specific embodiments of the present invention, the details of the present invention can be more clearly understood. However, the specific embodiments of the present invention described herein are only for the purpose of explaining the present invention and cannot be construed in any way as a limitation of the present invention. Under the teaching of the present invention, those skilled in the art can conceive any possible variations based on the present invention, and these should all be regarded as belonging to the scope of the present invention. It should be noted that when an element is referred to as being "disposed on" another element, it can be directly on the other element or there can also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "mounted", "connected", and "connected" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the communication inside two elements. It can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only embodiment.

[0068] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0069] In order to solve the problem that the spacer bar frame is too long, resulting in the horizontal straightness of the spacer bar frame sagging during the process of being clamped and framed, and at the same time, to accurately position the glass and adjust the position of the insulating glass spacer bar frame so that it can accurately position the distance from the outer edge of the glass, a method for clamping and positioning an insulating glass spacer bar frame is proposed in this application. Figure 1 As shown in Figure 1 the following is a flowchart of the steps of the method for clamping and positioning an insulating glass spacer bar frame in an embodiment of the present invention. As

[0070] S101: Move the first piece of glass to a preset position of the insulating glass support mechanism 200.

[0071] In some feasible embodiments, the method for clamping and positioning an insulating glass spacer bar frame can be applied to the insulating glass spacer bar frame clamping mechanism 100. Figure 2 As shown in the following is a schematic structural diagram of the insulating glass spacer bar frame clamping mechanism in an embodiment of the present invention. Figure 3This is a schematic structural diagram after the cooperation of the insulating glass spacer frame clamping mechanism and the insulating glass support mechanism in the embodiment of the present invention. As Figure 2 and Figure 3 shown, the insulating glass spacer frame clamping mechanism 100 may include: a first vertical movement mechanism, a second vertical movement mechanism, a second guide rail mechanism 6, a first horizontal movement mechanism, and a second horizontal movement mechanism.

[0072] Among them, as Figure 2 and Figure 3 shown, the first vertical movement mechanism may include: a first guide rail mechanism 1 extending along a first direction; a first movement mechanism 2, the first movement mechanism 2 having a plurality of first jaw mechanisms 21 arranged along a second direction; a first driving module 3, the first movement mechanism 2 being capable of moving along the first direction on the first guide rail mechanism 1 through the first driving module 3. The first direction may be the vertical direction.

[0073] As Figure 2 and Figure 3 shown, the second vertical movement mechanism may include: a second movement mechanism 4, the second movement mechanism 4 having a plurality of second jaw mechanisms 41 arranged along a second direction; a second driving module 5, the second movement mechanism 4 being capable of moving along the first direction through the second driving module 5. The second direction may be the horizontal direction formed between the upper left and the lower right.

[0074] As Figure 2 and Figure 3 shown, the second guide rail mechanism 6 may extend along the second direction.

[0075] As Figure 2 and Figure 3 shown, the first horizontal movement mechanism may include: a third movement mechanism 7, the third movement mechanism 7 having a plurality of third jaw mechanisms 71 arranged along the first direction; a third driving module 11, the third movement mechanism 7 being capable of moving along the second direction on the second guide rail mechanism 6 through the third driving module 11.

[0076] As Figure 2 and Figure 3 shown, the second horizontal movement mechanism may include: a fourth movement mechanism 8, the fourth movement mechanism 8 having a plurality of fourth jaw mechanisms 81 arranged along the first direction; a fourth driving module 9, the fourth movement mechanism 8 being capable of moving along the second direction on the second guide rail mechanism 6 through the fourth driving module 9.

[0077] As Figure 2 and Figure 3 shown, the first movement mechanism 2 and the second movement mechanism 4 are arranged in parallel in the first direction. The third movement mechanism 7 and the fourth movement mechanism 8 are arranged in parallel in the second direction.

[0078] A plurality of first jaw mechanisms 21, a plurality of second jaw mechanisms 41, a plurality of third jaw mechanisms 71 and a plurality of fourth jaw mechanisms 81 can be distributed along the four sides of a rectangle for gripping a hollow glass spacer frame 300.

[0079] The jaw mechanism has an open state and a locked state. In the open state, the jaw mechanism can allow the hollow glass spacer frame 300 to be inserted into its jaws. In the locked state, the jaw mechanism can clamp the hollow glass spacer frame 300. When the jaw mechanism clamps the hollow glass spacer frame 300, the jaw mechanism clamps the outer wall and the inner wall of the hollow glass spacer frame 300, without clamping the two side walls of the hollow glass spacer frame 300, so as to facilitate the subsequent fitting of the hollow glass spacer frame 300 with the second piece of glass.

[0080] In some embodiments, a first positioning unit for detecting whether the first moving mechanism 2 reaches the upper edge of the first piece of glass is provided on the first moving mechanism 2. A second positioning unit for detecting whether the second moving mechanism 4 reaches the lower edge of the first piece of glass is provided on the second moving mechanism 4. A third positioning unit for detecting whether the third moving mechanism 7 reaches the left edge of the first piece of glass is provided on the third moving mechanism 7. A fourth positioning unit for detecting whether the fourth moving mechanism 8 reaches the right edge of the first piece of glass is provided on the fourth moving mechanism 8. In the above embodiments, the positioning unit can at least include one of the following: a photoelectric detection unit, a motor torque detection unit, a mechanical limit detection unit, etc. Through the above structure, the hollow glass spacer frame clamping mechanism 100 can accurately find the edge of the first piece of glass without knowing the position of the glass on the hollow glass support mechanism 200 at all, so as to achieve reference positioning.

[0081] Optionally, the positioning unit can be installed on the corresponding moving mechanism or not installed on the moving mechanism.

[0082] As Figure 3 shown, the hollow glass spacer frame clamping mechanism 100 in the present application can be used in cooperation with the hollow glass support mechanism 200. The hollow glass support mechanism 200 is located at the upper right position of the hollow glass spacer frame clamping mechanism 100, and the two are adjacent and closely arranged. Figure 7 is a side view of the hollow glass support mechanism in the embodiment of the present invention. As Figure 7As shown, the insulating glass support mechanism 200 includes a support plate 2003 arranged in the vertical direction. The support plate 2003 can support one side of the first piece of glass, enabling the first piece of glass to maintain a vertical state. A conveying mechanism may be provided at the lower end of the support plate 2003. The conveying mechanism can support the lower end of the first piece of glass and drive the first piece of glass to move. For example, the conveying mechanism may include a plurality of rollers 2004 arranged in the second direction, and the rollers 2004 extend in the third direction. For another example, the conveying mechanism may include other types of conveying structures such as a crawler, and the specific structure of the conveying mechanism is not limited in this application.

[0083] As feasible, the third direction is perpendicular to the first direction and the second direction. The first direction and the second direction may also be perpendicular to each other. The first piece of glass may be arranged on the rollers 2004, and the rollers 2004 can support the lower end of the first piece of glass. The conveying mechanism such as the rollers 2004 may be in transmission connection with the power unit 2005 to drive the rotation of the conveying mechanism such as the rollers 2004, thereby driving the first piece of glass to move.

[0084] In step S101, when the first piece of glass enters the insulating glass support mechanism 200, movement control can be performed by the rotation of the conveying mechanism, thereby moving the first piece of glass to a preset position. During this process, a positioning unit can be used to detect whether the first piece of glass has moved to the preset position. Here, the positioning unit may be a photoelectric detection unit, a mechanical limit detection unit, etc. The positioning unit can be installed on the third moving mechanism 7 and / or the fourth moving mechanism 8.

[0085] The insulating glass support mechanism 200 may have a swing mechanism 2001. Driven by the swing mechanism 2001, the support plate 2003, the rollers 2004, the power unit 2005, etc. can rotate around the bottom shaft 2002, so that the support plate 2003 rotates from a backward inclined state to a completely vertical state.

[0086] The entire insulating glass spacer frame clamping mechanism 100 can be installed on the total control mechanism, and the total control mechanism can drive the insulating glass spacer frame clamping mechanism 100 to move in the third direction.

[0087] S102: Control the first moving mechanism 2 for clamping the spacer frame to move along the first direction to a position corresponding to the upper straight section of the insulating glass spacer frame according to the position corresponding to the upper edge of the first glass sheet and the preset distance between the insulating glass spacer frame and the upper edge of the first glass sheet. The first moving mechanism 2 has a plurality of first jaw mechanisms 21 arranged along the second direction; control the second moving mechanism 4 for clamping the spacer frame to move along the first direction to a position corresponding to the lower straight section of the insulating glass spacer frame according to the position corresponding to the lower edge of the first glass sheet and the preset distance between the insulating glass spacer frame and the lower edge of the first glass sheet. The second moving mechanism 4 has a plurality of second jaw mechanisms 41 arranged along the second direction. Wherein, the second direction is the horizontal direction.

[0088] In this step, the first moving mechanism 2 can be controlled to move along the first direction until the first positioning unit detects that the first jaw mechanism 21 reaches a position corresponding to the upper edge of the first glass sheet and then stop; after the reference positioning of the first moving mechanism 2 and the edge of the first glass sheet is completed, according to the preset distance between the insulating glass spacer frame and the upper edge of the first glass sheet, control the first jaw mechanism 21 to move in the first direction to a position corresponding to the upper straight section of the insulating glass spacer frame.

[0089] In this step, the second moving mechanism 4 can be controlled to move along the first direction until the second positioning unit detects that the second jaw mechanism 41 reaches a position corresponding to the lower edge of the first glass sheet and then stop; after the reference positioning of the second moving mechanism 4 and the edge of the first glass sheet is completed, according to the preset distance between the insulating glass spacer frame and the lower edge of the first glass sheet, control the second jaw mechanism 41 to move in the first direction to a position corresponding to the lower straight section of the insulating glass spacer frame.

[0090] In some embodiments, as Figure 4 shown, the first moving mechanism 2 may include: a first cross bar 22 mounted with a plurality of first jaw mechanisms 21; a second cross bar 23, and the second cross bar 23 can move along the first direction on the first guide rail mechanism 1 through the first driving module 3; a fifth driving module 24, and the first cross bar 22 can move relative to the second cross bar 23 along the first direction through the fifth driving module 24.

[0091] In a specific embodiment, Figure 8 The right view of the upper frame mechanism for clamping the insulating glass spacer frame in the embodiment of the present invention, Figure 9 is Figure 8 the enlarged view at A in Figure 8 and Figure 9As shown, the first positioning unit 29 can be installed at the lower end surface of the first longitudinal rod 25. When the first longitudinal rod 25 is driven by the first driving module 3 to move downward until the first positioning unit 29 contacts the upper edge of the glass 400, the first driving module 3 stops running and the first longitudinal rod 25 stops. Thus, the upper edge of the glass 400 is detected. The operating state of the first driving module 3 can be controlled by the PLC signal of the first positioning unit 29.

[0092] In some embodiments, Figure 5 is a schematic structural diagram of the second vertical moving mechanism in an embodiment of the present invention. As Figure 5 shown, the second moving mechanism 4 includes: a fourth cross bar 43, the fourth cross bar 43 can move along a first direction through the second driving module 5; a third cross bar 42 installed with a plurality of second jaw mechanisms 41; a sixth driving module 44, and the third cross bar 42 can move relative to the fourth cross bar 43 along the first direction through the sixth driving module 44.

[0093] Specifically, in step S102, the first driving module 3 can be controlled to run so that the first moving mechanism 2 moves along the first direction until the first positioning unit detects the position corresponding to the upper edge of the first jaw mechanism 21 and the first piece of glass and stops; after the reference positioning of the first moving mechanism 2 and the edge of the first piece of glass is completed, according to the preset distance between the insulating glass spacer frame and the edge of the first piece of glass, the fifth driving module 24 is controlled to run so that the first cross bar 22 moves in the first direction, so that the first jaw mechanism 21 moves to the position corresponding to the upper straight section of the insulating glass spacer frame.

[0094] In step S102, the second driving module 5 can be controlled to run so that the second moving mechanism 4 moves along the first direction until the second positioning unit detects the position corresponding to the lower edge of the second jaw mechanism 41 and the first piece of glass and stops; after the reference positioning of the second moving mechanism 4 and the edge of the first piece of glass is completed, according to the preset distance between the insulating glass spacer frame and the edge of the first piece of glass, the sixth driving module 44 is controlled to run so that the third cross bar 42 moves in the first direction, so that the second jaw mechanism 41 moves to the position corresponding to the lower straight section of the insulating glass spacer frame.

[0095] In some embodiments, the method for clamping and positioning the insulating glass spacer frame may include: controlling the third moving mechanism 7 to move along the second direction to a position corresponding to the left straight section of the insulating glass spacer frame according to the position corresponding to the left edge of the first glass sheet and a preset distance between the insulating glass spacer frame and the left edge of the first glass sheet. The third moving mechanism 7 has a plurality of third jaw mechanisms 71 arranged along the first direction; controlling the fourth moving mechanism 8 to move along the second direction to a position corresponding to the right straight section of the insulating glass spacer frame according to the position corresponding to the right edge of the first glass sheet and a preset distance between the insulating glass spacer frame and the right edge of the first glass sheet. The fourth moving mechanism 8 has a plurality of fourth jaw mechanisms 81 arranged along the first direction.

[0096] Correspondingly, when the insulating glass spacer frame is conveyed in front of the first glass sheet, the insulating glass spacer frame clamping mechanism is moved in the third direction, so that a plurality of the third jaw mechanisms 71 extend in the third direction and clamp the left straight section of the insulating glass spacer frame, and a plurality of the fourth jaw mechanisms 81 extend in the third direction and clamp the right straight section of the insulating glass spacer frame.

[0097] In the above steps, it is possible to control the third moving mechanism 7 to stop moving along the second direction when the third positioning unit detects that the third jaw mechanism 71 corresponds to the position of the left edge of the first glass sheet; after the reference positioning of the third moving mechanism 7 and the edge of the first glass sheet is completed, according to the preset distance between the insulating glass spacer frame and the left edge of the first glass sheet, control the third jaw mechanism 71 to move in the second direction to a position corresponding to the left straight section of the insulating glass spacer frame. It is possible to control the fourth moving mechanism 8 to stop moving along the second direction when the fourth positioning unit detects that the fourth jaw mechanism 81 corresponds to the position of the right edge of the first glass sheet; after the reference positioning of the fourth moving mechanism 8 and the edge of the first glass sheet is completed, according to the preset distance between the insulating glass spacer frame and the right edge of the first glass sheet, control the fourth jaw mechanism 81 to move in the second direction to a position corresponding to the right straight section of the insulating glass spacer frame.

[0098] Correspondingly, in a specific embodiment, the third driving module 11 can be controlled to operate so that the third moving mechanism 7 moves along the second direction and stops when the third positioning unit detects that the third jaw mechanism 71 reaches a position corresponding to the left edge of the first piece of glass; after the reference positioning of the third moving mechanism 7 and the edge of the first piece of glass is completed, the ninth driving module is controlled to operate so that the first vertical rod moves in the second direction, so that the third jaw mechanism moves to a position corresponding to the left straight section of the insulating glass spacer frame. In a specific embodiment, the fourth moving mechanism 8 can be controlled to operate so that the fourth moving mechanism 8 moves along the second direction and stops when the fourth positioning unit detects that the fourth jaw mechanism 81 reaches a position corresponding to the right edge of the first piece of glass; after the reference positioning of the fourth moving mechanism 8 and the edge of the first piece of glass is completed, the tenth driving module 84 is controlled to operate so that the third vertical rod 82 moves in the second direction, so that the fourth jaw mechanism 81 moves to a position corresponding to the right straight section of the insulating glass spacer frame.

[0099] In the above embodiment, after the first moving mechanism 2 and the second moving mechanism 4 complete the reference positioning of the glass edge, according to the preset distance between the insulating glass spacer frame 300 and the outer edge of the glass, the position of the first moving mechanism 2 can be adjusted by the fifth driving module 24 respectively, and the position of the second moving mechanism 4 can be adjusted by the sixth driving module 44, so that the first jaw mechanism 21 moves to a position corresponding to the upper straight section of the insulating glass spacer frame 300 in the first direction, and the second jaw mechanism 41 moves to a position corresponding to the lower edge of the glass in the first direction.

[0100] In the above step S102, the fifth driving module 24 can be controlled to operate so that the first cross bar 22 moves in the first direction, so that the first jaw mechanism 21 moves to a position corresponding to the upper straight section of the insulating glass spacer frame 300. The sixth driving module 44 can be controlled to operate so that the third cross bar 42 moves in the first direction, so that the second jaw mechanism 41 moves to a position corresponding to the lower straight section of the insulating glass spacer frame 300.

[0101] The amplitude of the first crossbar 22 moving relative to the second crossbar 23 along the first direction through the fifth driving module 24 is relatively small, much smaller than the amplitude of the second crossbar 23 moving along the first direction on the first guide rail mechanism 1 through the first driving module 3. The amplitude of the first crossbar 22 moving relative to the second crossbar 23 along the first direction through the fifth driving module 24 only needs to meet the adjustment of the preset distance between the insulating glass spacer frame 300 and the outer edge of the glass, generally between 1 - 100 mm. Similarly, the amplitude of the third crossbar 42 moving relative to the fourth crossbar 43 along the first direction through the sixth driving module 44 is relatively small, much smaller than the degree of the fourth crossbar 43 moving along the first direction through the second driving module 5. The amplitude of the third crossbar 42 moving relative to the fourth crossbar 43 along the first direction through the sixth driving module 44 only needs to meet the adjustment of the preset distance between the insulating glass spacer frame 300 and the outer edge of the glass, generally between 1 - 100 mm.

[0102] In some embodiments, Figure 6 is a schematic structural diagram of the second guide rail mechanism equipped with the first horizontal movement mechanism or the second horizontal movement mechanism in the embodiment of the present invention, as Figure 6 shown, the third movement mechanism 7 may include: a first vertical rod installed with a plurality of third jaw mechanisms 71; a second vertical rod, which is cooperatively installed with the second guide rail mechanism 6 through the third driving module 11 and can move along the second direction on the second guide rail mechanism 6; a ninth driving module, and the first vertical rod can move relative to the second vertical rod along the second direction through the ninth driving module.

[0103] In a specific embodiment, Figure 10 is a front view of the insulating glass spacer frame clamping upper frame mechanism in the embodiment of the present invention, Figure 11 is Figure 10 an enlarged view of the position B in Figure 10 and Figure 11 shown. The third positioning unit 73 may be installed at the right end of the third longitudinal rod connected to the second vertical rod. The third longitudinal rod is cooperatively installed with the second guide rail mechanism 6 through the third driving module 11 and can move along the second direction on the second guide rail mechanism 6. When the third longitudinal rod drives to move rightward through the third driving module 11 until the third positioning unit 73 contacts the left edge of the glass 400, the third driving module 11 stops operating and the third longitudinal rod stops. Thus, the left edge of the glass 400 is detected. The operating state of the third driving module 11 can also be controlled by the PLC signal of the third positioning unit 73.

[0104] In some embodiments, as Figure 6As shown in the figure, the fourth moving mechanism 8 may include: a third vertical rod 82 installed with a plurality of fourth jaw mechanisms 81; a fourth vertical rod 83, which is cooperatively installed with the second guide rail mechanism 6 through a fourth driving module 9 and can move along the second direction on the second guide rail mechanism 6; a tenth driving module 84, and the third vertical rod 82 can move relative to the fourth vertical rod 83 along the second direction through the tenth driving module 84.

[0105] In the above step S102, the ninth driving module can be controlled to operate so that the first vertical rod moves in the second direction, so that the third jaw mechanism 71 moves to a position corresponding to the left straight section of the insulating glass spacer frame 300. Or the tenth driving module 84 can be controlled to operate so that the third vertical rod 82 moves in the second direction, so that the fourth jaw mechanism 81 moves to a position corresponding to the right straight section of the insulating glass spacer frame 300.

[0106] The degree of movement of the first vertical rod relative to the second vertical rod along the second direction through the ninth driving module is small, much smaller than the degree of movement of the second vertical rod along the second direction on the second guide rail mechanism 6. The degree of movement of the first vertical rod relative to the second vertical rod along the second direction through the ninth driving module only needs to meet the adjustment of the preset distance between the insulating glass spacer frame 300 and the outer edge of the glass, generally between 1 - 100 mm. Similarly, the degree of movement of the third vertical rod 82 relative to the fourth vertical rod 83 along the second direction through the tenth driving module 84 is small, much smaller than the degree of movement of the fourth vertical rod 83 along the second direction on the second guide rail mechanism 6. The degree of movement of the third vertical rod 82 relative to the fourth vertical rod 83 along the second direction through the tenth driving module 84 only needs to meet the adjustment of the preset distance between the insulating glass spacer frame 300 and the outer edge of the glass, generally between 1 - 100 mm.

[0107] In some embodiments, Figure 4 is a schematic structural diagram of the first up - and - down moving mechanism in the embodiment of the present invention. As Figure 2 and Figure 4 shown, there may be two first guide rail mechanisms 1, and the two first guide rail mechanisms 1 are arranged in parallel along the second direction. Two parts of the first moving mechanism 2 are respectively cooperatively installed with the two first guide rail mechanisms 1. In this way, the stability of the first moving mechanism 2 can be strengthened. One first driving module 3 can be respectively arranged at two parts of the first moving mechanism 2 to be cooperatively installed with the two first guide rail mechanisms 1.

[0108] In some embodiments, as Figure 6As shown, there are two second guide rail mechanisms 6, and the two second guide rail mechanisms 6 are arranged in parallel along the first direction. Two places of the third moving mechanism 7 are respectively installed in cooperation with the two second guide rail mechanisms 6 through the third driving module 11. Two places of the fourth moving mechanism 8 are respectively installed in cooperation with the two second guide rail mechanisms 6 through the fourth driving module 9. Through the above, the stability of the third moving mechanism 7 and the fourth moving mechanism 8 can be ensured.

[0109] Through the above process, the method for clamping and positioning the insulating glass spacer frame can accurately find the edge of the first piece of glass when it is completely unclear about the position of the first piece of glass on the insulating glass support mechanism 200, so as to realize the reference positioning of the first moving mechanism 2, the second moving mechanism 4, the third moving mechanism 7 and the fourth moving mechanism 8 with the edge of the first piece of glass. Then, based on the glass edge as a reference, according to the size change of the glass, automatically adjust the size of the insulating glass spacer frame 300 from the glass edge, and ensure that the distances of the four straight sections of the insulating glass spacer frame 300 from the glass edge always remain the preset distance.

[0110] In some embodiments, the method for clamping and positioning the insulating glass spacer frame may include:

[0111] S103: When the insulating glass spacer frame 300 is conveyed in front of the first piece of glass, move the insulating glass spacer frame clamping mechanism 100 in the third direction, and a plurality of the first jaw mechanisms 21 extend in the third direction and clamp the upper straight section of the insulating glass spacer frame 300 according to the linearity of the upper edge of the first piece of glass, so that the upper straight section of the insulating glass spacer frame remains in a straight state, and a plurality of the second jaw mechanisms 41 extend in the third direction and clamp the lower straight section of the insulating glass spacer frame 300 according to the linearity of the lower edge of the first piece of glass, so that the lower straight section of the insulating glass spacer frame 300 remains in a straight state.

[0112] In some embodiments, when the insulating glass spacer frame 300 is conveyed in front of the first piece of glass, move the insulating glass spacer frame clamping mechanism 100 in the third direction, so that a plurality of the third jaw mechanisms 71 extend in the third direction and clamp the left straight section of the insulating glass spacer frame 300, and a plurality of the fourth jaw mechanisms 81 extend in the third direction and clamp the right straight section of the insulating glass spacer frame 300.

[0113] In a specific embodiment, when the insulating glass spacer frame 300 is conveyed in front of the first piece of glass, control the total control mechanism to drive the insulating glass support mechanism 200 and the insulating glass spacer frame clamping mechanism 100 to move together in the third direction, so that all the jaw mechanisms extend in the third direction and clamp the insulating glass spacer frame 300 at the corresponding positions of the jaw mechanisms.

[0114] In some embodiments, the bottoms of the insulating glass support mechanism 200 and the insulating glass spacer frame clamping mechanism 100 can both be installed on the same track. Driven by the overall control mechanism, the insulating glass support mechanism 200 and the insulating glass spacer frame clamping mechanism 100 can move together in the third direction, so that all the jaw mechanisms extend in the third direction to clamp the insulating glass spacer frame 300 at the corresponding positions of the jaw mechanisms.

[0115] In some embodiments, the method for clamping and positioning the insulating glass spacer frame may include:

[0116] S104: After the jaw mechanism clamps the insulating glass spacer frame 300, move the insulating glass spacer frame clamping mechanism 100 in the third direction, so that the insulating glass spacer frame 300 on the jaw mechanism is attached to the second piece of glass on another insulating glass support mechanism 200.

[0117] In this step, directly in front of the insulating glass support mechanism 200, there is another insulating glass support mechanism 200 with a second piece of glass. The position of the second piece of glass on the other insulating glass support mechanism 200 corresponds to the position of the first piece of glass on the insulating glass support mechanism 200.

[0118] Before performing this step, the equipment corresponding to the transported insulating glass spacer frame 300 can be withdrawn from between the insulating glass support mechanism 200 and the other insulating glass support mechanism 200. Then, the overall control mechanism can be controlled to drive the insulating glass spacer frame clamping mechanism 100 to move in the third direction and continue to move forward, so that the insulating glass spacer frame 300 on the jaw mechanism is attached to the second piece of glass on the other insulating glass support mechanism 200.

[0119] In a specific embodiment, the structure of the other insulating glass support mechanism 200 can be different from or the same as the specific structure of the above-mentioned insulating glass support mechanism 200. The other insulating glass support mechanism 200 is used to keep the second piece of glass in the same positions in the first direction and the second direction as the glass on the insulating glass support mechanism 200. The insulating glass support mechanism 200 and the other insulating glass support mechanism 200 are arranged side by side in the third direction, and the insulating glass spacer frame clamping mechanism 100 is generally located between the first insulating glass support mechanism 200 and the second insulating glass support mechanism 200.

[0120] In a specific embodiment, the bottom of the other insulating glass support mechanism 200 can also be installed on the same track as the insulating glass support mechanism 200 and the insulating glass spacer frame clamping mechanism 100.

[0121] In a specific embodiment, the total control mechanism can further drive the insulating glass spacer frame clamping mechanism 100 to move in the third direction, so that the insulating glass spacer frame 300 on the jaw mechanism is attached to another piece of glass on the second insulating glass support mechanism 200. Optionally, the total control mechanism can also drive the insulating glass support mechanism 200 and the insulating glass spacer frame clamping mechanism 100 to move together in the third direction.

[0122] S105: After the insulating glass spacer frame 300 is attached, control the first moving mechanism 2, the second moving mechanism 4, the third moving mechanism 7, and the fourth moving mechanism 8 to move away from the insulating glass spacer frame 300 in the first and second directions, move the insulating glass support mechanism 200 closer to another insulating glass support mechanism 200, and laminate the first piece of glass and the second piece of glass with the insulating glass spacer frame 300 to form insulating glass.

[0123] In this step, the first driving module 3 can be controlled to operate so that the first moving mechanism 2 moves upward in the first direction; the second driving module 5 can be controlled to operate so that the second moving mechanism 4 moves downward in the first direction; the third driving module 11 can be controlled to operate so that the third moving mechanism 7 moves leftward in the second direction; the fourth moving mechanism 8 can be controlled to operate so that the fourth moving mechanism 8 moves rightward in the second direction. Through the above process, there is no interference between the moving mechanisms between the insulating glass support mechanisms 200. After that, the total control mechanism can further drive the insulating glass spacer frame clamping mechanism 100 to move in the third direction, so that the insulating glass support mechanism 200 moves closer to another insulating glass support mechanism 200, and the two are arranged adjacent to each other. Finally, the insulating glass support mechanisms 200 cooperate with each other to laminate the first piece of glass and the second piece of glass with the insulating glass spacer frame 300 to form insulating glass. For example, the support plate 2003 is provided with a telescopic suction cup unit. After the suction cup unit sucks the respective corresponding glass, the suction cup unit extends, so as to carry the respective first piece of glass and the second piece of glass with the insulating glass spacer frame 300 to extend and approach each other until the two are attached together, thus realizing lamination to form insulating glass.

[0124] In some embodiments, the method for clamping and positioning the insulating glass spacer frame may include:

[0125] Before moving the first piece of glass to the preset position of the insulating glass support mechanism 200, control the seventh driving module 27 to operate, so that the first cross bar 22, the second cross bar 23, and the fifth driving module 24 installed with a plurality of first jaw mechanisms 21 move away from the insulating glass support mechanism 200 in the third direction.

[0126] In this step, the first moving mechanism 2 may include: a first longitudinal rod 25 fixedly connected to the second crossbar 23; a second longitudinal rod 26, which is mounted on the first guide rail mechanism 1 via the first drive module 3 and can move along the first direction on the first guide rail mechanism 1; and a seventh drive module 27, which can move the first longitudinal rod 25 along the third direction relative to the second longitudinal rod 26. Through the above structure, the first crossbar 22, the second crossbar 23, and the fifth drive module 24, which are equipped with multiple first clamping mechanisms 21, can be moved along the third direction.

[0127] In some embodiments, the method for clamping and positioning insulating glass spacer frames may include:

[0128] Before the first piece of glass is moved to the preset position of the insulating glass support mechanism 200, the eighth driving module 101 is controlled to operate so that the third crossbar 42, the fourth crossbar 43, the second driving module 5, and the sixth driving module 44 equipped with multiple second clamping mechanisms 41 are moved away from the insulating glass support mechanism 200.

[0129] In this step, the insulating glass spacer frame clamping mechanism 100 may include: a telescopic mechanism 10 having an eighth driving module 101, the telescopic end of the telescopic mechanism 10 can be telescoped along the third direction at the eighth driving module 101, and the fourth cross bar 43 can move along the first direction relative to the telescopic end through the second driving module 5.

[0130] Through the above method, it can be ensured that some components in the first moving mechanism 2 and some components in the second moving mechanism 4 will not interfere with the transportation of glass to the preset position of the insulating glass support mechanism 200, and will not interfere with the corresponding equipment for transporting glass, etc.

[0131] In some embodiments, the positions of the first cross bar 22, the second cross bar 23, the fifth drive module 24 and other components, the positions of the third cross bar 42, the fourth cross bar 43, the second drive module 5, the sixth drive module 44 and other components are closer to the hollow glass support mechanism 200 relative to the positions of the first vertical bar, the second vertical bar and other components, the positions of the third vertical bar 82, the fourth vertical bar 83 and other components. Therefore, the first cross bar 22, the second cross bar 23, the fifth drive module 24 and other components, the third cross bar 42, the fourth cross bar 43, the second drive module 5, the sixth drive module 44 and other components need to avoid interference when the glass is transported to the preset position of the hollow glass support mechanism 200.

[0132] In some embodiments, as Figure 5As shown, the telescopic mechanism 10 may include: a first fixed seat 102, a second fixed seat 103, an eighth driving module 101, a telescopic member 104, and a sliding rod 105. The eighth driving module 101 may be a cylinder. The sliding rod 105 passes through the first fixed seat 102 and the second fixed seat 103. The housing of the cylinder is fixedly arranged on the first fixed seat 102 and the second fixed seat 103 respectively. The telescopic member 104 is connected to the telescopic end of the cylinder and the part of the sliding rod 105 that penetrates out of the second fixed seat 103. The telescopic member 104 can move in the third direction under the action of the telescopic end of the cylinder. The sliding rod 105 is mainly used to bear the weight on the telescopic member 104. There may be two sliding rods 105, which are respectively located on both sides of the cylinder. The fourth cross bar 43 can move relative to the telescopic end and the telescopic member 104 in the first direction through the second driving module 5. The fourth cross bar 43 may be installed on the telescopic member 104 through the second driving module 5.

[0133] In some embodiments, as Figure 4 shown, the second cross bar 23 has a sliding track extending in the second direction. The fifth driving module 24 is installed in the sliding track of the second cross bar 23 and can move in the second direction along the sliding track. The second cross bar 23 has an eleventh driving module 28, and the eleventh driving module 28 is used to drive the fifth driving module 24 to move in the second direction along the sliding track. For example, the eleventh driving unit may adopt a cylinder unit structure. Through the above structure, the first cross bar 22 and the fifth driving module 24, on which a plurality of first jaw mechanisms 21 are installed, can move in the second direction to avoid other devices when needed.

[0134] In some embodiments, as Figure 6 shown, the second vertical bar has a sliding track extending in the first direction. The ninth driving module is installed in the sliding track of the second vertical bar and can move in the first direction along the sliding track. The second vertical bar has a twelfth driving module, and the twelfth driving module is used to drive the ninth driving module to move in the first direction along the sliding track. For example, the twelfth driving unit may adopt a cylinder unit structure. Through the above structure, the first vertical bar and the ninth driving module, on which a plurality of third jaw mechanisms 71 are installed, can move in the first direction to avoid other devices when needed.

[0135] In some embodiments, as Figure 6As shown, the fourth vertical rod 83 has a sliding track extending in the first direction. The tenth driving module 84 is installed in the sliding track of the fourth vertical rod 83 and can move in the first direction along the sliding track. The fourth vertical rod 83 has a thirteenth driving module 85, and the thirteenth driving module 85 is used to drive the tenth driving module 84 to move in the first direction along the sliding track. For example, the thirteenth driving unit can adopt a cylinder unit structure. Through the above structure, the third vertical rod 82 and the tenth driving module 84, which are installed with multiple fourth jaw mechanisms 81, can move in the first direction to avoid other devices when needed.

[0136] In some embodiments, the fifth driving module 24, the sixth driving module 44, the ninth driving module, and the tenth driving module 84 can preferably adopt a structure in which a motor drives a gear and then the gear moves on a rack, so as to realize fine adjustment of the distance and accurately adjust the distance between the jaw mechanism and the edge of the glass. For example, the motor can be a stepper motor.

[0137] In some embodiments, the first driving module 3, the second driving module 5, the third driving module 11, and the fourth driving module 9 can preferably adopt a structure in which a motor drives a gear and then the gear moves on a rack, or can adopt a structure in which a motor drives a synchronous belt or a chain to move, and the first moving mechanism 2 is fixedly connected to the synchronous belt or the chain. The guide rail mechanism can preferably adopt a V-shaped guide rail.

[0138] In some embodiments, an elastic buffer mechanism is provided inside the jaw mechanism to protect the insulating glass spacer frame 300 from being crushed and deformed when the insulating glass spacer frame 300 is locked.

[0139] In some embodiments, the opening and closing distance range of the jaw mechanism can be between 0 and 50 mm. Therefore, the positioning error of the insulating glass spacer frame 300 can be tolerated, and the position will not change after clamping, and the position of the jaw mechanism will not change relative to the glass positioning.

[0140] When the hollow glass spacer frame clamping upper frame mechanism needs to clamp the hollow glass spacer frame, the first moving mechanism 2 moves along the first direction on the first guide rail mechanism 1 to the position corresponding to the upper straight section of the hollow glass spacer frame, and the second moving mechanism 4 moves along the first direction to the position corresponding to the lower straight section of the hollow glass spacer frame. The total control mechanism drives the hollow glass spacer frame clamping upper frame mechanism to move in the third direction, so that all the jaw mechanisms extend in the third direction. A plurality of first jaw mechanisms 21 clamp the upper straight section of the hollow glass spacer frame, and a plurality of second jaw mechanisms 41 clamp the lower straight section of the hollow glass spacer frame. The hollow glass spacer frame at the position corresponding to the jaw mechanism is clamped in the above manner, so as to ensure that the upper straight section and the lower straight section of the hollow glass spacer frame do not sag during the process of being clamped and framed, thereby improving the accuracy of the framing position of the hollow glass spacer frame.

[0141] The method for clamping and positioning the hollow glass spacer frame in this application can be applied to the lamination station of the hollow glass production line. The glass edge can be positioned first, and then based on the glass edge as a reference, according to the size change of the glass, the size of the distance between the hollow glass spacer frame 300 and the glass edge can be automatically adjusted to ensure that the distances of the four straight sections of the hollow glass spacer frame 300 from the glass edge always remain a preset distance. These four preset distances can be the same, so as to accurately position the size distance of the hollow glass spacer frame 300 relative to the glass, and this process can prepare for the accurate full-automatic framing.

[0142] The overall structure of the hollow glass spacer frame clamping mechanism 100 corresponding to the method for clamping and positioning the hollow glass spacer frame in this application is simple and reliable, with low maintenance cost, simple operation, high overall automation control and positioning accuracy, low cost, easy to expand, more convenient and fast for large or extra-large hollow glass, and can be flexibly adapted to the transformation of the hollow glass automatic production line. In particular, it can be matched with the intelligent hollow glass line connection automatic production, with high efficiency and the purpose of realizing no manual participation. In addition, it can also improve the current situation that large and extra-large hollow glass depends on multiple people to frame at the same time, save labor, reduce safety risks, greatly improve the problem of difficult processing of large and extra-large hollow glass, and improve product quality.

[0143] All articles and references disclosed, including patent applications and publications, are incorporated herein by reference for various purposes. The term "consisting essentially of" in describing a combination shall include the identified elements, ingredients, components, or steps as well as other elements, ingredients, components, or steps that do not materially affect the basic novel characteristics of the combination. The use of the terms "comprising" or "including" to describe the combinations of elements, ingredients, components, or steps herein also contemplates embodiments consisting essentially of these elements, ingredients, components, or steps. By using the term "may" herein, it is intended that any of the attributes described as "may" include be optional. A plurality of elements, ingredients, components, or steps can be provided by a single integrated element, ingredient, component, or step. Alternatively, a single integrated element, ingredient, component, or step can be divided into separate multiple elements, ingredients, components, or steps. The disclosure of "a" or "an" to describe an element, ingredient, component, or step does not mean to exclude other elements, ingredients, components, or steps.

[0144] Each embodiment in this specification is described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other. The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. However, the protection scope of the present invention cannot be limited thereby. All equivalent changes or modifications made according to the spirit and essence of the present invention should be covered within the protection scope of the present invention.

Claims

1. A method for clamping and positioning a hollow glass spacer frame, characterized in that The method for clamping and positioning the insulating glass spacer frame includes: Moving the first piece of glass to a preset position of the insulating glass support mechanism; According to the position corresponding to the upper edge of the first piece of glass and the preset distance between the insulating glass spacer frame and the upper edge of the first piece of glass, controlling the first moving mechanism for clamping the spacer frame to move along the first direction to a position corresponding to the upper straight section of the insulating glass spacer frame. The first moving mechanism has a plurality of first jaw mechanisms arranged along the second direction; according to the position corresponding to the lower edge of the first piece of glass and the preset distance between the insulating glass spacer frame and the lower edge of the first piece of glass, controlling the second moving mechanism for clamping the spacer frame to move along the first direction to a position corresponding to the lower straight section of the insulating glass spacer frame. The second moving mechanism has a plurality of second jaw mechanisms arranged along the second direction; the second direction is the horizontal direction; When the insulating glass spacer frame is conveyed in front of the first piece of glass, moving the insulating glass spacer frame clamping mechanism in the third direction, and a plurality of the first jaw mechanisms extending in the third direction and clamping the upper straight section of the insulating glass spacer frame according to the linearity of the upper edge of the first piece of glass, so that the upper straight section of the insulating glass spacer frame remains in a straight state, and a plurality of the second jaw mechanisms extending in the third direction and clamping the lower straight section of the insulating glass spacer frame according to the linearity of the lower edge of the first piece of glass, so that the lower straight section of the insulating glass spacer frame remains in a straight state.

2. The method for clamping and positioning a hollow glass spacer frame according to claim 1, wherein, In the step of moving the first piece of glass to a preset position of the insulating glass support mechanism, it includes: After the first piece of glass enters the insulating glass support mechanism, the conveying mechanism supports the lower end of the first piece of glass, and through the rotation of the conveying mechanism for movement control, using the positioning unit to detect whether the first piece of glass moves to the preset position.

3. The method for clamping and positioning a spacer frame of insulating glass according to claim 1, characterized in that, In the step of controlling the first moving mechanism to move along the first direction to a position corresponding to the upper straight section of the insulating glass spacer frame according to the position corresponding to the upper edge of the first piece of glass and the preset distance between the insulating glass spacer frame and the edge of the first piece of glass, it includes: Controlling the first moving mechanism to move along the first direction and stop when the first positioning unit detects that the first jaw mechanism reaches a position corresponding to the upper edge of the first piece of glass; after completing the reference positioning between the first moving mechanism and the edge of the first piece of glass, according to the preset distance between the insulating glass spacer frame and the upper edge of the first piece of glass, controlling the first jaw mechanism to move in the first direction to a position corresponding to the upper straight section of the insulating glass spacer frame; In the step of controlling the second moving mechanism to move along the first direction to a position corresponding to the lower straight section of the insulating glass spacer frame according to the position corresponding to the lower edge of the first piece of glass and the preset distance between the insulating glass spacer frame and the edge of the first piece of glass, it includes: Control the second moving mechanism to move along the first direction until it stops when the second positioning unit detects that the second jaw mechanism reaches a position corresponding to the lower edge of the first piece of glass; after completing the reference positioning of the second moving mechanism and the edge of the first piece of glass, control the second jaw mechanism to move to a position corresponding to the lower straight section of the insulating glass spacer frame in the first direction according to the preset distance between the insulating glass spacer frame and the lower edge of the first piece of glass.

4. The method for clamping and positioning a hollow glass spacer frame according to claim 3, wherein The method for clamping and positioning the insulating glass spacer frame is applied to an insulating glass spacer frame clamping mechanism, and the insulating glass spacer frame clamping mechanism includes: A first vertical moving mechanism, including: a first guide rail mechanism extending along the first direction; a first moving mechanism; a first driving module, the first moving mechanism can move along the first direction on the first guide rail mechanism through the first driving module; the first moving mechanism includes: a first cross bar installed with a plurality of the first jaw mechanisms; a second cross bar, the second cross bar can move along the first direction on the first guide rail mechanism through the first driving module; a fifth driving module, the first cross bar can move relative to the second cross bar along the first direction through the fifth driving module; A second vertical moving mechanism, including: a second moving mechanism; a second driving module, the second moving mechanism can move along the first direction through the second driving module; the second moving mechanism includes: a fourth cross bar, the fourth cross bar can move along the first direction through the second driving module; a third cross bar installed with a plurality of the second jaw mechanisms; a sixth driving module, the third cross bar can move relative to the fourth cross bar along the first direction through the sixth driving module; The first moving mechanism and the second moving mechanism are arranged in parallel in the first direction.

5. The method for clamping and positioning a hollow glass spacer frame according to claim 4, characterized in that, Control the first driving module to operate so that the first moving mechanism moves along the first direction until it stops when the first positioning unit detects that the first jaw mechanism reaches a position corresponding to the upper edge of the first piece of glass; after completing the reference positioning of the first moving mechanism and the edge of the first piece of glass, control the fifth driving module to operate so that the first cross bar moves in the first direction, so that the first jaw mechanism moves to a position corresponding to the upper straight section of the insulating glass spacer frame; Control the second driving module to operate so that the second moving mechanism moves along the first direction until it stops when the second positioning unit detects that the second jaw mechanism reaches a position corresponding to the lower edge of the first piece of glass; after completing the reference positioning of the second moving mechanism and the edge of the first piece of glass, control the sixth driving module to operate so that the third cross bar moves in the first direction, so that the second jaw mechanism moves to a position corresponding to the lower straight section of the insulating glass spacer frame.

6. The method for clamping and positioning a hollow glass spacer frame according to claim 1, wherein The method for clamping and positioning the insulating glass spacer frame further includes: Control the third moving mechanism to move along the second direction to a position corresponding to the left straight section of the insulating glass spacer frame according to the position corresponding to the left edge of the first piece of glass and the preset distance between the insulating glass spacer frame and the left edge of the first piece of glass. The third moving mechanism has a plurality of third jaw mechanisms arranged along the first direction; control the fourth moving mechanism to move along the second direction to a position corresponding to the right straight section of the insulating glass spacer frame according to the position corresponding to the right edge of the first piece of glass and the preset distance between the insulating glass spacer frame and the right edge of the first piece of glass. The fourth moving mechanism has a plurality of fourth jaw mechanisms arranged along the first direction. When the insulating glass spacer frame is conveyed in front of the first piece of glass, move the insulating glass spacer frame clamping mechanism in the third direction so that a plurality of the third jaw mechanisms extend in the third direction and clamp the left straight section of the insulating glass spacer frame, and a plurality of the fourth jaw mechanisms extend in the third direction and clamp the right straight section of the insulating glass spacer frame.

7. The method for clamping and positioning the insulating glass spacer frame according to claim 6, characterized in that, In the step of controlling the third moving mechanism to move along the second direction to a position corresponding to the left straight section of the insulating glass spacer frame according to the position corresponding to the left edge of the first piece of glass and the preset distance between the insulating glass spacer frame and the left edge of the first piece of glass, it includes: Control the third moving mechanism to move along the second direction and stop when the third positioning unit detects that the third jaw mechanism reaches a position corresponding to the left edge of the first piece of glass; after completing the reference positioning of the third moving mechanism and the edge of the first piece of glass, control the third jaw mechanism to move in the second direction to a position corresponding to the left straight section of the insulating glass spacer frame according to the preset distance between the insulating glass spacer frame and the left edge of the first piece of glass. In the step of controlling the fourth moving mechanism to move along the second direction to a position corresponding to the right straight section of the insulating glass spacer frame according to the position corresponding to the right edge of the first piece of glass and the preset distance between the insulating glass spacer frame and the right edge of the first piece of glass, it includes: Control the fourth moving mechanism to move along the second direction and stop when the fourth positioning unit detects that the fourth jaw mechanism reaches a position corresponding to the right edge of the first piece of glass; after completing the reference positioning of the fourth moving mechanism and the edge of the first piece of glass, control the fourth jaw mechanism to move in the second direction to a position corresponding to the right straight section of the insulating glass spacer frame according to the preset distance between the insulating glass spacer frame and the right edge of the first piece of glass.

8. The method for clamping and positioning a hollow glass spacer frame according to claim 7, characterized in that, The method for clamping and positioning the insulating glass spacer frame is applied to an insulating glass spacer frame clamping mechanism, and the insulating glass spacer frame clamping mechanism includes: A second guide rail mechanism extending along the second direction; The first horizontal moving mechanism includes: a third moving mechanism having a plurality of third jaw mechanisms arranged in a first direction; a third driving module, by which the third moving mechanism can move along the second direction on the second guide mechanism; the third moving mechanism includes: a first vertical rod on which a plurality of the third jaw mechanisms are mounted; a second vertical rod, which is cooperatively mounted with the second guide mechanism through the third driving module and can move along the second direction on the second guide mechanism; a ninth driving module, by which the first vertical rod can move relative to the second vertical rod along the second direction; The second horizontal moving mechanism includes: a fourth moving mechanism having a plurality of fourth jaw mechanisms arranged in a first direction; a fourth driving module, by which the fourth moving mechanism can move along the second direction on the second guide mechanism; the fourth moving mechanism includes: a third vertical rod on which a plurality of the fourth jaw mechanisms are mounted; a fourth vertical rod, which is cooperatively mounted with the second guide mechanism through the fourth driving module and can move along the second direction on the second guide mechanism; a tenth driving module, by which the third vertical rod can move relative to the fourth vertical rod along the second direction; The third moving mechanism and the fourth moving mechanism are arranged side by side in the second direction.

9. The method for clamping and positioning a spacer frame of insulating glass according to claim 8, wherein, Control the third driving module to operate so that the third moving mechanism moves along the second direction until it stops when the third positioning unit detects that the third jaw mechanism corresponds to the left edge of the first piece of glass; after completing the reference positioning of the third moving mechanism and the edge of the first piece of glass, control the ninth driving module to operate so that the first vertical rod moves in the second direction, so that the third jaw mechanism moves to a position corresponding to the left straight section of the insulating glass spacer frame; Control the fourth moving mechanism to operate so that the fourth moving mechanism moves along the second direction until it stops when the fourth positioning unit detects that the fourth jaw mechanism corresponds to the right edge of the first piece of glass; after completing the reference positioning of the fourth moving mechanism and the edge of the first piece of glass, control the tenth driving module to operate so that the third vertical rod moves in the second direction, so that the fourth jaw mechanism moves to a position corresponding to the right straight section of the insulating glass spacer frame.

10. The method for clamping and positioning a hollow glass spacer frame according to claim 4, characterized in that, The first moving mechanism includes: a first longitudinal rod fixedly connected to the second cross bar; a second longitudinal rod, which is cooperatively mounted with the first guide mechanism through the first driving module and can move along the first direction on the first guide mechanism; a seventh driving module, by which the first longitudinal rod can move relative to the second longitudinal rod along the third direction; Before moving the first piece of glass to the preset position of the insulating glass support mechanism, control the operation of the seventh driving module so that the first cross bar, the second cross bar, and the fifth driving module, which are provided with a plurality of the first jaw mechanisms, move away from the insulating glass support mechanism in the third direction; The insulating glass spacer frame clamping mechanism further includes: A telescopic mechanism having an eighth driving module, the telescopic end of the telescopic mechanism can be telescoped in the third direction by the eighth driving module, and the fourth cross bar can move relative to the telescopic end in the first direction through the second driving module; Before moving the first piece of glass to the preset position of the insulating glass support mechanism, control the operation of the eighth driving module so that the third cross bar, the fourth cross bar, the second driving module, and the sixth driving module, which are provided with a plurality of the second jaw mechanisms, move away from the insulating glass support mechanism.

11. The method for clamping and positioning a hollow glass spacer frame according to claim 10, characterized in that, The positions of the first cross bar, the second cross bar, and the fifth driving module, and the positions of the components of the third cross bar, the fourth cross bar, the second driving module, and the sixth driving module are closer to the insulating glass support mechanism compared to the positions of the components of the first vertical bar, the second vertical bar, the third vertical bar, and the fourth vertical bar.

12. The method for clamping and positioning a hollow glass spacer frame according to claim 10, wherein, The telescopic mechanism includes: a first fixed seat, a second fixed seat, an eighth driving module, a telescopic member, and a sliding rod; the eighth driving module is a cylinder, the sliding rod passes through the first fixed seat and the second fixed seat, the housing of the cylinder is respectively fixedly arranged on the first fixed seat and the second fixed seat, and the telescopic member is connected to the telescopic end of the cylinder and the part of the sliding rod protruding from the second fixed seat; the telescopic member can move in the third direction under the action of the telescopic end of the cylinder.

13. The method for clamping and positioning a hollow glass spacer frame according to claim 1, wherein, The bottoms of the insulating glass support mechanism and the insulating glass spacer frame clamping mechanism are both installed on the same track; When the insulating glass spacer frame is conveyed in front of the first piece of glass, control the total control mechanism to drive the insulating glass support mechanism and the insulating glass spacer frame clamping mechanism to move together in the third direction, so that all the jaw mechanisms extend in the third direction and clamp the insulating glass spacer frame at the corresponding positions of the jaw mechanisms.

14. The method for clamping and positioning a hollow glass spacer frame according to claim 1, characterized in that, There is another insulating glass support mechanism with a second piece of glass directly in front of the insulating glass support mechanism, and the position of the second piece of glass on the other insulating glass support mechanism corresponds to the position of the first piece of glass on the insulating glass support mechanism; The insulating glass spacer frame clamping and positioning method further includes: After the jaw mechanism clamps the insulating glass spacer frame, move the insulating glass spacer frame clamping mechanism in the third direction, so that the insulating glass spacer frame on the jaw mechanism is fitted to the second piece of glass on the other insulating glass support mechanism; After the insulating glass spacer frames are fitted, control the first moving mechanism, the second moving mechanism, the third moving mechanism, and the fourth moving mechanism to move away from the insulating glass spacer frame in the first direction and the second direction, move the insulating glass support mechanism closer to the other insulating glass support mechanism, and combine the first piece of glass and the second piece of glass with the insulating glass spacer frame to form an insulating glass.

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