Flexible sheet taking and placing device, taking and placing method and glass feeding machine

Abstract

The invention discloses a flexible sheet taking and placing device and method and a glass feeding machine. A first clamping unit comprises a cross beam, a movable clamping block, a fixed clamping block and a power piece, and the cross beam is in sliding fit with a movable arm; the movable clamping block comprises a first bottom surface and a first clamping surface, the first bottom surface of the movable clamping block can tightly press a sheet to be taken, and an acute angle is formed between the first bottom surface and the first clamping surface; the fixed clamping block comprises a second bottom surface and a second clamping surface, the second bottom surface can press a sheet to be taken, the second clamping surface is parallel to the first clamping surface of the movable clamping block, the fixed clamping block and the movable clamping block are at a first position when being spaced, and the second clamping surface of the fixed clamping block is at a second position when being attached to the first clamping surface of the movable clamping block; the power piece is arranged on the cross beam, the power piece is connected with the movable clamping block, the power piece can drive the movable clamping block to move from the first position to the second position, and the high-speed production takt can be met.

Description

Technical Field

[0001] The present invention belongs to the field of solar cell manufacturing, and particularly relates to a picking and placing device for flexible sheets, a picking and placing method, and a glass loading machine. Background Art

[0002] Photovoltaic glass is an important component of photovoltaic modules. The photovoltaic glass encapsulates the core component, the crystalline silicon wafer, in the photovoltaic module. Sunlight is transmitted through the photovoltaic glass to the crystalline silicon wafer, and the light energy is converted into electrical energy by the battery silicon wafer.

[0003] During the manufacturing process of photovoltaic modules, the initial incoming material state is that photovoltaic glass is stacked on a pallet, and there is a separator paper between two pieces of photovoltaic glass. This requires picking up the paper and then supplying the photovoltaic glass to the conveyor line, and the photovoltaic glass flows to the next processing station through the conveyor line.

[0004] In the prior art, the publication number CN222573643U discloses a photovoltaic module glass loading device. In a double-station glass loading machine, two glass-picking manipulators and two second handling mechanisms for picking up paper are horizontally arranged. The picking and placing strokes of the two second handling mechanisms for picking up paper are long, and it cannot meet the high-speed production rhythm. Summary of the Invention

[0005] The main purpose of the present invention is to provide a picking and placing device for flexible sheets, a picking and placing method, and a glass loading machine, which reduce the picking and placing stroke of the sheets and meet the high-speed production rhythm.

[0006] The above object of the present invention is achieved by the following technical solutions: A picking and placing device for flexible sheets includes: a mounting plate, a lifting mechanism, a moving arm, and a first clamping unit. The lifting mechanism is connected to the mounting plate, and the lifting mechanism can drive the mounting plate to approach or move away from the sheet to be picked. The moving arm is slidably matched with the mounting plate, and the moving arm can slide between the sheet picking position and the sheet placing position. The first clamping unit includes a cross beam, a movable clamping block, a fixed clamping block, and a power member. The cross beam is slidably matched with the moving arm. The movable clamping block includes a first bottom surface and a first clamping surface. The first bottom surface of the movable clamping block can press the sheet to be picked, and the angle formed by the first bottom surface and the first clamping surface is an acute angle. The fixed clamping block includes a second bottom surface and a second clamping surface. The second bottom surface can press the sheet to be picked, the second clamping surface is parallel to the first clamping surface of the movable clamping block. When the fixed clamping block and the movable clamping block are spaced apart, it is in the first position. When the second clamping surface of the fixed clamping block is in contact with the first clamping surface of the movable clamping block, it is in the second position. The power member is arranged on the cross beam, and the power member is connected to the movable clamping block. The power member can drive the movable clamping block to reciprocate between the first position and the second position.

[0007] Further, the picking and placing device for the flexible sheet further includes a second clamping unit. The second clamping unit and the first clamping unit are arranged at intervals in the width direction of the sheet to be picked. The second clamping unit has the same structure as the first clamping unit, and the first clamping surfaces of the movable clamping blocks of the first clamping unit and the second clamping unit are on the same plane.

[0008] Further, the picking and placing device for the flexible sheet further includes a third clamping unit. The third clamping unit and the first clamping unit are arranged at intervals in the length direction of the sheet to be picked; The third clamping unit has the same structure as the first clamping unit, and the fixed clamping blocks of the first clamping unit and the third clamping unit are located between the movable clamping blocks of the first clamping unit and the third clamping unit.

[0009] Further, the angle formed by the first bottom surface and the first clamping surface of the movable clamping block is θ, and the length of the sheet to be picked is L1; when the picking and placing device includes the first clamping unit and the second clamping unit, when the movable clamping blocks of the first clamping unit and the second clamping unit are at the sheet picking position, the minimum distance between the movable clamping blocks and the short side of the sheet to be picked is L2, satisfying 1 / 10 ≤ L2 / L1 ≤ 1 / 2, 10° ≤ θ ≤ 80°; When the picking and placing device includes the first clamping unit and the third clamping unit, when the movable clamping block of the first clamping unit is at the sheet picking position, the minimum distance between the movable clamping block of the first clamping unit and the short side of the sheet to be picked is L2, and the minimum distance between the movable clamping block of the third clamping unit and the short side of the sheet to be picked is L3, satisfying 1 / 10 ≤ L2 / L1 ≤ 1 / 3, 1 / 10 ≤ L3 / L1 ≤ 1 / 3, 10° ≤ θ ≤ 80°.

[0010] Further, the power member is a cylinder, and the cylinder block of the cylinder is fixed to the bottom surface of the cross beam; The first clamping unit further includes a first telescopic assembly and a second telescopic assembly. The first telescopic assembly is fixed to the bottom surface of the cylinder block of the cylinder. The first telescopic rod of the first telescopic assembly is connected to the top surface of the fixed clamping block, and a spring is sleeved on the first telescopic rod; The second telescopic assembly is fixed to the piston rod of the cylinder; the lower end of the second telescopic rod of the second telescopic assembly is fixed to the movable clamping block, and a spring is sleeved on the second telescopic rod.

[0011] Further, the picking and placing device for the flexible sheet further includes a first belt pulley transmission unit. The first belt pulley transmission unit includes: a driving motor, a driving pulley, a first driven pulley, a second driven pulley and a first synchronous belt. The driving motor is fixed on the mounting plate; The driving pulley is connected to the rotating shaft of the driving motor; the first driven pulley is rotatably connected to the side wall of the moving arm; the second driven pulley is rotatably connected to the side wall of the moving arm, and the second driven pulley and the first driven pulley are respectively arranged on both sides of the driving pulley in the axial direction; One end of the first synchronous belt is fixed to the inner end of the moving arm, and the other end is fixed to the outer end of the moving arm. The first synchronous belt is wound around the first driven pulley, the driving pulley, and the second driven pulley in sequence from the inner end of the moving arm. The first synchronous belt can drive the moving arm to reciprocate.

[0012] Further, the picking and placing device for the flexible sheet further includes a second belt pulley transmission unit, which includes: a first belt pulley, a second belt pulley, and a second synchronous belt. The first belt pulley is rotatably connected to the inner end of the moving arm; the second belt pulley is rotatably connected to the outer end of the moving arm, and the axial direction of the second belt pulley is parallel to the axial direction of the driving pulley. The second synchronous belt is wound around the first belt pulley and the second belt pulley. The upper belt body of the second synchronous belt is fixed to the mounting plate, and the lower belt body of the second synchronous belt is fixed to the cross beam. The lower belt body drives the cross beam to move, and the moving direction is the same as the moving direction of the moving arm.

[0013] Further, the lifting mechanism includes: a vertical guide rail, a second column, and a lifting motor. The vertical guide rail is fixed to the frame; the bottom end of the second column is fixed to the mounting plate, a slider is fixed to the back of the second column, the second column is slidably matched with the vertical guide rail, and a second rack is fixed to the side of the second column. The lifting motor is fixed to the frame, and the transmission shaft of the lifting motor meshes with the second rack on the side of the second column for driving.

[0014] Another embodiment of the present invention provides a glass loading machine, which includes the picking and placing device for the flexible sheet described above. The glass loading machine further includes a glass handling mechanism and a conveyor line. Glass handling mechanisms are respectively arranged on both sides of the conveying direction of the conveyor line. The feeding station is located below the glass handling mechanism. The picking and placing device is arranged on the feeding side or the discharging side of the conveyor line, and the picking and placing device and the glass handling mechanism are arranged adjacent to each other along the length direction of the sheet to be picked. The glass handling mechanism includes: a gantry, a substrate, a first motor, a first column, a frame, and a second motor. The top beam of the gantry is located above the conveyor line, and two horizontal guide rails are arranged on the top beam. The length direction of the horizontal guide rails is the same as the width direction of the sheet to be picked. Sliders are arranged at the bottom of the substrate, and the substrate is slidably matched with the horizontal guide rails. The first motor is fixed to the substrate, and the transmission shaft of the first motor meshes with the third rack inside the horizontal guide rail. The first motor drives the substrate to slide along the length direction of the horizontal guide rail. The first column is slidably matched with the gantry in the vertical direction, and a first rack is arranged on the side of the first column. The frame is fixed to the lower end of the first column, and several suction cups are arranged at the bottom of the frame. The second motor is fixed to the substrate, and the transmission shaft of the second motor meshes with the first rack on the first column. The second motor drives the frame to move up and down.

[0015] Another embodiment of the present invention provides a picking and placing method based on the aforementioned picking and placing device, including the following steps: S10: The first clamping unit is located at the position for picking the sheet. The lifting mechanism drives the mounting plate, the moving arm, and the first clamping unit to descend synchronously. The movable clamping block and the fixed clamping block of the first clamping unit press against the surface of the sheet to be picked. S20: The power member drives the movable clamping block to approach the fixed clamping block, and the first clamping surface of the movable clamping block and the second clamping surface of the fixed clamping block clamp the sheet to be picked. S30: The lifting mechanism drives the movable clamping block, the fixed clamping block, and the sheet to be picked to rise. The part of the sheet to be picked that is rubbed by the movable clamping block bends towards the side where the fixed clamping block is located. S40: The moving arm drives the first clamping unit to slide to the position for placing the sheet. The power member drives the movable clamping block away from the fixed clamping block, and the sheet to be picked falls to the position for placing the sheet. S50: The moving arm drives the first clamping unit to slide to the position for picking the sheet, and S10 is repeated.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: By setting the angle θ between the first bottom surface and the first clamping surface of the movable clamping block to be an acute angle, and the second clamping surface of the fixed clamping block to be parallel to the first clamping surface of the movable clamping block. After the movable clamping block and the fixed clamping block clamp the paper, the lifting mechanism drives the mounting plate and the first clamping unit to rise synchronously. The short side of the paper can bend inward. The paper includes a horizontal part and a bent part. Compared with the initial length of the paper, the length of the clamped paper is reduced by more than 30%. It can shorten the stroke of paper picking and placing, meet the high-speed production rhythm, and improve production efficiency.

[0017] Since the short side of the paper can bend inward, when the first clamping unit moves to the position for placing the sheet and releases the sheet to be picked, the horizontal part and the bent part overlap each other. In this way, the sheet to be picked can be laid flat at the position for placing the sheet on the paper placing trolley, avoiding the uneven placement of the paper and occupying a large amount of vertical height. The solution provided by the present invention can place more papers in the same vertical space and reduce the frequency of cleaning the papers on the paper placing trolley. Description of the Drawings

[0018] Figure 1 Is a perspective view of the picking and placing device in the position for picking the sheet in an embodiment of the present invention; Figure 2 Is a process diagram of the picking and placing device clamping the sheet and moving it to the position for placing the sheet in an embodiment of the present invention; Figure 3 Is a perspective view of the picking and placing device in the position for placing the sheet in an embodiment of the present invention; Figure 4Side view of the first clamping unit before clamping the sheet in an embodiment of the present invention; Figure 5 Side view of the first clamping unit clamping the sheet and rising in an embodiment of the present invention; Figure 6 Stereogram of the picking and placing device in the sheet placing position in another embodiment of the present invention; Figure 7 Side view of the first clamping unit and the third clamping unit clamping the sheet and rising in another embodiment of the present invention; Figure 8 Top view of the picking and placing device in an embodiment of the present invention; Figure 9 is Figure 8 Cross-sectional view taken along line C-C in; Figure 10 is Figure 8 Cross-sectional view taken along line D-D in; Figure 11 Stereogram of the glass loading machine; Figure 12 is Figure 11 Stereogram of the glass handling mechanism in. Detailed implementation manners

[0019] The present invention provides a picking and placing device for flexible sheets, as Figures 1-12 shown.

[0020] The flexible sheets of the present invention can be paper, plastic film, cloth, metal foil, etc. The specific types of the flexible sheets are not limited. Hereinafter, only the case where the flexible sheet is paper will be taken as an example for illustration.

[0021] A picking and placing device for flexible sheets includes a mounting plate 11, a lifting mechanism, a moving arm 20, and a first clamping unit 30a. The lifting mechanism is connected to the mounting plate 11, and the lifting mechanism can drive the mounting plate 11 to approach or move away from the paper A to be picked up; The moving arm 20 is slidably engaged with the mounting plate 11, and the moving arm 20 can slide between the sheet picking position 401 and the sheet placing position 402; The first clamping unit 30a includes a movable clamping block 31, a fixed clamping block 32, a cross beam 33, and a power member 34. The cross beam 33 is slidably engaged with the moving arm 20. Specifically, two mutually parallel first guide rails 21 are fixed at the top of the moving arm 20, and two mutually parallel second guide rails 22 are fixed at the bottom. The slider at the bottom of the mounting plate 11 is slidably engaged with the first guide rail 21 at the top of the moving arm 20, and the slider at the top of the cross beam 33 is slidably engaged with the second guide rail 22 at the bottom of the moving arm 20.

[0022] The movable clamping block 31 includes a first bottom surface 311 and a first clamping surface 312. The first bottom surface 311 of the movable clamping block 31 can press against the paper A to be picked up, and the angle formed by the first bottom surface 311 and the first clamping surface 312 is an acute angle; The fixed clamping block 32 includes a second bottom surface 321 and a second clamping surface 322. The second bottom surface 321 can press against the paper A to be picked up. The second clamping surface 322 is parallel to the first clamping surface 312 of the movable clamping block 31. When the fixed clamping block 32 and the movable clamping block 31 are spaced apart, it is in the first position. When the second clamping surface 322 of the fixed clamping block 32 is in contact with the first clamping surface 312 of the movable clamping block 31, it is in the second position; The power member 34 is disposed on the cross beam 33. The power member 34 is connected to the movable clamping block 31, and the power member 34 can drive the movable clamping block 31 to reciprocate between the first position and the second position.

[0023] In the first clamping unit 30a of the present invention, by setting the angle θ between the first bottom surface 311 and the first clamping surface 312 of the movable clamping block 31 to be an acute angle, specifically 10° ≤ θ ≤ 80°, and the second clamping surface 322 of the fixed clamping block 32 is parallel to the first clamping surface 312 of the movable clamping block 31. After the movable clamping block 31 and the fixed clamping block 32 clamp the paper, the lifting mechanism drives the mounting plate 11 to rise synchronously with the first clamping unit 30a, and the short side of the paper can be bent inward. The paper includes a horizontal portion A1 and a bent portion A2.

[0024] Compared with the initial length of the paper, the length of the clamped paper is reduced by more than 30%, which can shorten the stroke of paper picking and placing, meet the high-speed production rhythm, and improve production efficiency.

[0025] The paper A to be picked up is paper. Since the short side of the paper can be bent inward, the first clamping unit 30a moves to the sheet placing position 402 to release the paper A to be picked up. The horizontal portion A1 and the bent portion A2 are stacked together, so that the paper A to be picked up can be laid flat at the sheet placing position 402 on the paper placing trolley, avoiding uneven paper placement and occupying a large amount of vertical height. The solution provided by the present invention can place more papers in the same vertical space and reduce the frequency of cleaning papers on the paper placing trolley.

[0026] In addition, as Figure 5As shown, since the first clamping surface 312 of the movable clamping block 31 is an inclined surface, during the process of clamping the paper, the driving member drives the movable clamping block 31 to move quickly and press against the second clamping surface 322 of the fixed clamping block 32. After the pressure F received by the fixed clamping block 32 is decomposed, it includes a vertically upward component force F1 and a horizontally rightward component force F2. The horizontally rightward component force F2 is small, so the bending moment on the telescopic rod 351 of the fixed clamping block 32 is small. Similarly, the bending moment of the telescopic rod of the movable clamping block 31 is also small, avoiding the deformation of the telescopic rods connected to the two clamping blocks. The solution provided by the present invention can extend the service life of the first clamping unit 30a and reduce the replacement cycle of vulnerable parts.

[0027] See Figures 1-3 , the picking and placing device further includes a second clamping unit 30b. The second clamping unit 30b and the first clamping unit 30a are arranged at intervals along the width direction M2 of the paper A to be picked. The second clamping unit 30b and the first clamping unit 30a have the same structure, and the first clamping surfaces 312 of the movable clamping blocks 31 of the first clamping unit 30a and the second clamping unit 30b are on the same surface.

[0028] In the above embodiment, there are two second clamping units 30b. In this way, the picking and placing device includes three clamping units arranged at intervals along the width direction M2 of the paper, ensuring that the paper can be stably clamped and bent to the designed angle. The second clamping unit 30b can also be set to more than 3.

[0029] See Figure 6 , in another embodiment of the present invention, the picking and placing device further includes a third clamping unit 30c. The third clamping unit 30c and the first clamping unit 30a are arranged at intervals along the length direction M1 of the paper A to be picked; The third clamping unit 30c and the first clamping unit 30a have the same structure, and the fixed clamping blocks 32 of the first clamping unit 30a and the third clamping unit 30c are located between the movable clamping blocks 31 of the first clamping unit 30a and the third clamping unit 30c.

[0030] As Figure 7 shown, the first clamping unit 30a and the third clamping unit 30c can respectively clamp and bend the short sides on both sides of the paper A to be picked inward, that is, the paper A to be picked sequentially includes a bending portion A2, a horizontal portion A1, and a bending portion A2.

[0031] Since the fixed clamping blocks 32 of the first clamping unit 30a and the third clamping unit 30c press against the surface of the paper A to be picked up, in the present invention, by arranging the fixed clamping blocks 32 of the first clamping unit 30a and the third clamping unit 30c between the movable clamping blocks 31, the movable clamping blocks 31 of the first clamping unit 30a and the third clamping unit 30c can respectively rub the paper A to be picked up. The movable clamping block 31 of the first clamping unit 30a bends the free side on the right side of the paper A to be picked up inward, and the movable clamping block 31 of the third clamping unit 30c bends the free side on the left side of the paper A to be picked up inward.

[0032] Compared with the initial length of the paper A to be picked up, in the first clamping unit 30a and the third clamping unit 30c provided by the present invention, the length of the paper A to be picked up after clamping can be reduced by more than 50%, significantly shortening the stroke of paper picking and placing, and further improving the production beat.

[0033] Specifically, the angle formed by the first bottom surface 311 and the first clamping surface 312 of the movable clamping block 31 is θ, and the length of the paper A to be picked up is L1; When the picking and placing device includes the first clamping unit 30a and the second clamping unit 30b, when the movable clamping blocks 31 of the first clamping unit 30a and the second clamping unit 30b are at the sheet picking position 401, the minimum distance between the movable clamping block 31 and the short side of the paper is L2, satisfying 1 / 10 ≤ L2 / L1 ≤ 1 / 2, 10° ≤ θ ≤ 80°; When the picking and placing device includes the first clamping unit 30a and the third clamping unit 30c, when the movable clamping block 31 of the first clamping unit 30a is at the sheet picking position 401, the minimum distance between the movable clamping block 31 of the first clamping unit 30a and the short side of the paper is L2, and the minimum distance between the movable clamping block 31 of the third clamping unit 30c and the short side of the paper is L3, satisfying 1 / 10 ≤ L2 / L1 ≤ 1 / 3, 1 / 10 ≤ L3 / L1 ≤ 1 / 3, 10° ≤ θ ≤ 80°.

[0034] The angle θ formed by the first bottom surface 311 and the first clamping surface 312 of the movable clamping block 31 can be 20°, 30°, 40°, 50°, 60°, 70°.

[0035] In the present invention, the angle θ formed by the first bottom surface 311 and the first clamping surface 312 of the movable clamping block 31 is 30°, the bending state of the paper is better, and the bending moment received by the telescopic rod connected to the fixed clamping block 32 and the movable clamping block 31 is smaller.

[0036] The power component 34 of the picking and placing device of the present invention is a cylinder, and the cylinder block of the cylinder is fixed to the bottom surface of the cross beam 33; The first clamping unit 30a further includes a first telescopic component 35 and a second telescopic component 36. The first telescopic component 35 is fixed to the bottom surface of the cylinder block of the air cylinder. The first telescopic rod of the first telescopic component 35 is connected to the top surface of the fixed clamping block 32, and a spring is sleeved on the first telescopic rod. The second telescopic component 36 is fixed to the piston rod of the air cylinder; the lower end of the second telescopic rod of the second telescopic component 36 is fixed to the movable clamping block 31, and a spring is sleeved on the second telescopic rod.

[0037] The fixed clamping block 32 and the movable clamping block 31 of the first clamping unit 30a can be floatingly pressed on the paper A to be taken on the glass B, avoiding damaging the glass B due to impact on the glass B.

[0038] See Figure 3 as shown in Figure 3 For the three-dimensional view of the picking and placing device after hiding the moving arm, the following describes the first pulley transmission unit and the second pulley transmission unit that drive the first clamping unit 30a to reciprocate along the length direction M1 of the paper A to be taken, as follows.

[0039] As Figure 3 、 Figure 8 and Figure 9 shown, the picking and placing device further includes a first pulley transmission unit. The first pulley transmission unit includes a driving motor 41, a driving pulley 42, a first driven pulley 43, a second driven pulley 44 and a first synchronous belt 45. The driving motor 41 is fixed to the mounting plate 11; The driving pulley 42 is connected to the rotating shaft of the driving motor 41; the first driven pulley 43 is rotatably connected to the side wall of the moving arm 20; The second driven pulley 44 is rotatably connected to the side wall of the moving arm 20, and the second driven pulley 44 and the first driven pulley 43 are disposed on both sides of the driving pulley 42 axially; One end of the first synchronous belt 45 is fixed to the inner end of the moving arm 20 and the other end is fixed to the outer end of the moving arm 20. The first synchronous belt 45 is sequentially wound around the first driven pulley 43, the driving pulley 42, and the second driven pulley 44 from the inner end of the moving arm 20. The first synchronous belt 45 can drive the moving arm 20 to reciprocate.

[0040] Further, as Figure 3 、 Figure 8 and Figure 10 shown, the picking and placing device of the present invention further includes a second pulley transmission unit. The second pulley transmission unit includes a first pulley 51, a second pulley 52 and a second synchronous belt 53. The first pulley 51 is rotatably connected to the inner end of the moving arm 20; The second pulley 52 is rotatably connected to the outer end of the moving arm 20, and the axis of the second pulley 52 is parallel to the axis of the driving pulley 42 axially; The second synchronous belt 53 is wound around the first pulley 51 and the second pulley 52. The upper belt body 531 of the second synchronous belt 53 is fixed to the mounting plate 11, and the lower belt body 532 of the second synchronous belt 53 is fixed to the cross beam 33. The lower belt body 532 drives the cross beam to move in the same direction as the moving direction of the moving arm 20.

[0041] As Figure 9 shown, when the first synchronous belt 45 drives the moving arm 20 to slide leftward along the M1 direction, as Figure 10 shown, since the upper belt body 531 of the second synchronous belt 53 is fixed to the mounting plate 11 and does not move, the lower belt body 532 will drive the cross beam 33 to move leftward along the M1 direction.

[0042] In short, as Figure 9 shown, while the first synchronous belt 45 drives the moving arm 20 and the cross beam 33 to move leftward along M1 at a speed V, as Figure 10 shown, the second synchronous belt 53 also drives the cross beam 33 to move leftward along M1 at a speed V. Compared with the transmission speed V of the first synchronous belt, the second pulley transmission unit additionally provided in the present invention enables the moving speed of the cross beam 33 to be increased to 2V.

[0043] That is, the moving speed of the first clamping unit 30a is increased to 2V. The paper picking and placing speed of the first clamping unit 30a is significantly increased, greatly reducing the time required for paper picking and placing, and meeting the high-tempo feeding speed.

[0044] The lifting mechanism of the picking and placing device includes a vertical guide rail 61, a second column 62, a second rack 63, and a lifting motor 64. The vertical guide rail 61 is fixed to the frame 1; The bottom end of the second column 62 is fixed to the mounting plate 11. A slider is fixed to the back of the second column 62. The second column 62 is slidably engaged with the vertical guide rail 61, and the second rack 63 is fixed to the side of the second column 62; The lifting motor 64 is fixed to the frame 1, and the transmission shaft of the lifting motor 64 is meshed with the second rack 63 on the side of the second column 62 for driving.

[0045] As Figure 11 shown, the present invention also provides a glass loading machine, which includes the aforementioned picking and placing device 100. The glass loading machine further includes a glass handling mechanism 200 and a conveyor line 300; The glass handling mechanisms 200 are respectively arranged on both sides of the conveying direction of the conveyor line 300. The feeding station is located below the glass handling mechanism 200. The picking and placing device 100 is arranged on the feeding side or the discharging side of the conveyor line 300. The picking and placing device 100 and the glass handling mechanism 200 are arranged adjacent to each other along the length direction M1 of the paper A to be picked. The feeding stations of the glass loading machine include a first feeding station and a second feeding station. The two feeding stations are used to place the glass stacked on the pallet, with a separator paper between two pieces of glass. The feeding stations are the aforementioned sheet picking position 401, and below the picking and placing device is a paper placing trolley, which is the sheet placing position 402. The two feeding stations are respectively arranged on both sides of the conveyor line 300, and are respectively located below the two glass handling mechanisms 200.

[0046] The two glass handling mechanisms 200 and the conveyor line 300 are horizontally arranged, and the two picking and placing devices 100 are longitudinally arranged. The layout of the glass loading machine is more compact, reducing the floor area of the glass loading machine.

[0047] The two glass handling mechanisms 200 of the glass loading machine can simultaneously and alternately feed. While loading the glass B on both sides, the two picking and placing devices 100 arranged longitudinally can cooperate to pick the paper simultaneously, realizing non-stop material change and greatly improving the production efficiency.

[0048] As Figure 12 shown, the glass handling mechanism 200 includes a gantry 210, a base plate 201, a first motor 202, a first column 203, a frame 204 and a second motor 205. The top beam 207 of the gantry 210 is located above the conveyor line 300, and two horizontal guide rails 206 are arranged on the top beam. The length direction of the horizontal guide rail 206 is consistent with the width direction of the paper A to be picked. Sliders are arranged at the bottom of the base plate 201, and the base plate 201 is slidably matched with the horizontal guide rail 206. The first motor 202 is fixed to the base plate 201, and the transmission shaft of the first motor 202 meshes with the third rack 208 inside the horizontal guide rail 206. The first motor 202 drives the base plate 201 to slide along the length direction of the horizontal guide rail 206. The first column 203 is slidably matched with the gantry 210 in the vertical direction, and a first rack 2031 is arranged on the side surface of the first column 203. The frame 204 is fixed to the lower end of the first column 203, and several suction cups 2041 are arranged at the bottom of the frame 204. The second motor 205 is fixed to the base plate 201, and the transmission shaft of the second motor 205 meshes with the first rack 2031 on the first column 203. The second motor 205 drives the frame 204 to move up and down along the M3 direction.

[0049] An embodiment of the present invention provides a paper picking method based on the aforementioned picking and placing device 100, including the following steps: S10: As Figure 1As shown, the first clamping unit 30a is located at the sheet taking position 401. The lifting mechanism drives the mounting plate 11, the moving arm 20 and the first clamping unit 30a to descend synchronously. The bottom surfaces of the movable clamping block 31 and the fixed clamping block 32 of the first clamping unit 30a are pressed against the paper surface of the paper A to be taken, that is, the paper A to be taken is pressed by the movable clamping block 31 and the fixed clamping block 32 on the glass B to be taken.

[0050] S20: The power member 34 drives the movable clamping block 31 to approach the fixed clamping block 32, and the first clamping surface 312 of the movable clamping block 31 and the second clamping surface 322 of the fixed clamping block 32 clamp the paper A to be taken; S30: The lifting mechanism drives the movable clamping block 31, the fixed clamping block 32 and the paper A to be taken to rise, and the part of the paper A to be taken rubbed by the movable clamping block 31 bends toward the side where the fixed clamping block 32 is located; As Figure 2 shown, the moving arm 20 drives the first clamping unit 30a and the paper A to be taken to slide to the sheet placing position 402.

[0051] S40: As Figure 3 shown, the moving arm 20 drives the first clamping unit 30a to slide to the sheet placing position 402, and the power member 34 drives the movable clamping block 31 to move away from the fixed clamping block 32, and the paper A to be taken falls to the sheet placing position 402; S50: The moving arm 20 drives the first clamping unit 30a to slide to the sheet taking position 401, and S10 is repeated.

[0052] An embodiment of the present invention provides a paper taking method based on the foregoing paper taking and placing device 100. The paper taking and placing device 100 includes a first clamping unit 30a, a second clamping unit 30b, and a third clamping unit 30c. The second clamping unit 30b and the third clamping unit 30c have the same structure as the first clamping unit 30a.

[0053] The second clamping unit 30b is arranged at an interval along the width direction M2 of the paper A to be taken from the first clamping unit 30a, and the first clamping surfaces 312 of the movable clamping blocks 31 of the first clamping unit 30a and the second clamping unit 30b are on the same plane.

[0054] The third clamping unit 30c is arranged at an interval along the length direction M1 of the paper A to be taken from the first clamping unit 30a, and the fixed clamping blocks 32 of the first clamping unit 30a and the third clamping unit 30c are located between the movable clamping blocks 31 of the first clamping unit 30a and the third clamping unit 30c.

[0055] S11: The first clamping unit 30a, the second clamping unit 30b, and the third clamping unit 30c are located at the sheet taking position 401. The lifting mechanism drives the mounting plate 11, the moving arm 20, the first clamping unit 30a, the second clamping unit 30b, and the third clamping unit 30c to descend synchronously. The movable clamping blocks 31 of the first clamping unit 30a, the second clamping unit 30b, and the third clamping unit 30c and the bottom surfaces of the fixed clamping blocks 32 are pressed against the paper surface of the paper A to be taken, that is, the paper A to be taken is pressed by the movable clamping blocks 31 and the fixed clamping blocks 32 on the glass B to be taken.

[0056] S21: The power member 34 drives the movable clamping block 31 to approach the fixed clamping block 32. The first clamping surfaces 312 of the first clamping unit and the second clamping unit clamp the paper A to be taken with the second clamping surface 322 of the fixed clamping block 32. The first clamping surface 312 of the movable clamping block 31 of the third clamping unit 30c clamps the paper A to be taken with the second clamping surface 322 of the fixed clamping block 32. S31: The lifting mechanism drives the movable clamping block 31, the fixed clamping block 32, and the paper A to be taken to rise. As Figure 7 shown, the movable clamping blocks 31 of the first clamping unit 30a and the second clamping unit 30b rub one side of the paper A to be taken to bend inward, and the movable clamping block 31 of the third clamping unit 30c rubs the other side of the paper A to be taken to bend inward. S41: As Figure 6 shown, the moving arm 20 drives the first clamping unit 30a, the second clamping unit 30b, and the third clamping unit 30c to slide to the sheet placing position 402. The power member 34 drives the movable clamping block 31 to move away from the fixed clamping block 32, and the paper A to be taken falls to the sheet placing position 402. S51: The moving arm 20 drives the first clamping unit 30a, the second clamping unit 30b, and the third clamping unit 30c to slide to the sheet taking position 401, and S11 is repeated.

[0057] An embodiment of the present invention provides a loading method based on the foregoing glass loading machine, including the following steps: S10: As Figure 1 shown, the first clamping unit 30a is located at the sheet taking position 401. The lifting mechanism drives the mounting plate 11, the moving arm 20, and the first clamping unit 30a to descend synchronously. The movable clamping block 31 of the first clamping unit 30a and the bottom surface of the fixed clamping block 32 are pressed against the paper surface of the paper A to be taken, that is, the paper A to be taken is pressed by the movable clamping block 31 and the fixed clamping block 32 on the glass B to be taken.

[0058] S20: The power member 34 drives the movable clamping block 31 to approach the fixed clamping block 32. The first clamping surface 312 of the movable clamping block 31 clamps the paper A to be taken with the second clamping surface 322 of the fixed clamping block 32. S30: The lifting mechanism drives the movable clamping block 31, the fixed clamping block 32, and the paper A to be picked up to rise. The part of the paper A to be picked up rubbed by the movable clamping block 31 bends toward the side where the fixed clamping block 32 is located. As Figure 2 shown, the state during the process that the moving arm 20 drives the first clamping unit 30a and the paper A to be picked up and slides toward the sheet placing position 402.

[0059] S40: As Figure 3 shown, the moving arm 20 drives the first clamping unit 30a to slide to the sheet placing position 402. The power member 34 drives the movable clamping block 31 to move away from the fixed clamping block 32, and the paper A to be picked up falls to the sheet placing position 402. S50: As Figure 10 shown, during the process that the first clamping unit 30a of the picking and placing device 100 moves toward the sheet placing position 402, the frame 204 of the glass handling mechanism 200 descends along the vertical direction M3, and several suction cups 2041 on the frame 204 adsorb on the surface of the glass B. S60: The frame 204 of the glass handling mechanism 200 and the glass B rise to a set height along the vertical direction M3, and the frame 204 moves rightward along M2 to above the conveyor line 300. S70: The frame 204 descends to a set height along the vertical direction M3, and the negative pressure of several suction cups 2041 on the frame 204 is released, and the glass B is placed on the conveyor line 300. S80: The frame 204 of the glass handling mechanism 200 resets to above the feeding station. S90: In step S60, during the process that the frame 204 of the glass handling mechanism 200 adsorbs the glass B and moves toward the conveyor line 300, the moving arm 20 drives the first clamping unit 30a to slide to the sheet taking position 401, and S10 is repeated.

[0060] The above are only some embodiments of the present invention. For those of ordinary skill in the art, without departing from the inventive concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention.

Claims

1. A pick-and-place device for a flexible sheet, characterized in that, Comprising: Mounting plate; Lifting mechanism, which is connected to the mounting plate, and the lifting mechanism can drive the mounting plate to approach or move away from the sheet to be picked up; Moving arm, which is slidably engaged with the mounting plate, and the moving arm can slide between the sheet picking position and the sheet placing position; First clamping unit, which includes: Cross beam, which is slidably engaged with the moving arm; Movable clamping block, which includes a first bottom surface and a first clamping surface, the first bottom surface of the movable clamping block can press the sheet to be picked up, and the angle formed by the first bottom surface and the first clamping surface is an acute angle; Fixed clamping block, which includes a second bottom surface and a second clamping surface, the second bottom surface can press the sheet to be picked up, the second clamping surface is parallel to the first clamping surface of the movable clamping block, the first position is when the fixed clamping block and the movable clamping block are spaced apart, and the second position is when the second clamping surface of the fixed clamping block is in contact with the first clamping surface of the movable clamping block; Power member, which is arranged on the cross beam, the power member is connected to the movable clamping block, and the power member can drive the movable clamping block to reciprocate between the first position and the second position.

2. The pick-and-place device for the flexible sheet according to claim 1, wherein It further includes a second clamping unit, the second clamping unit is arranged at an interval with the first clamping unit along the width direction of the sheet to be picked up, the second clamping unit has the same structure as the first clamping unit, and the first clamping surfaces of the movable clamping blocks of the first clamping unit and the second clamping unit are on the same plane.

3. The pick-and-place device for the flexible sheet according to claim 1, wherein It further includes a third clamping unit, the third clamping unit is arranged at an interval with the first clamping unit along the length direction of the sheet to be picked up; The third clamping unit has the same structure as the first clamping unit, and the fixed clamping blocks of the first clamping unit and the third clamping unit are located between the movable clamping blocks of the first clamping unit and the third clamping unit.

4. The pick-and-place device for the flexible sheet according to claim 2 or 3, characterized in that, The angle formed by the first bottom surface and the first clamping surface of the movable clamping block is θ, and the length of the sheet to be picked up is L1; When the picking and placing device includes the first clamping unit and the second clamping unit, when the movable clamping blocks of the first clamping unit and the second clamping unit are at the sheet picking position, the minimum distance between the movable clamping blocks and the short side of the sheet to be picked up is L2, satisfying 1 / 10 ≤ L2 / L1 ≤ 1 / 2, 10° ≤ θ ≤ 80°; When the picking and placing device includes the first clamping unit and the third clamping unit, when the movable clamping block of the first clamping unit is at the sheet picking position, the minimum distance between the movable clamping block of the first clamping unit and the short side of the sheet to be picked up is L2, and the minimum distance between the movable clamping block of the third clamping unit and the short side of the sheet to be picked up is L3, satisfying 1 / 10 ≤ L2 / L1 ≤ 1 / 3, 1 / 10 ≤ L3 / L1 ≤ 1 / 3, 10° ≤ θ ≤ 80°.

5. The pick-and-place device for the flexible sheet according to claim 1, wherein, The power member is a cylinder, and the cylinder block of the cylinder is fixed to the bottom surface of the cross beam; The first clamping unit further includes a first telescopic assembly and a second telescopic assembly, the first telescopic assembly is fixed to the bottom surface of the cylinder block of the cylinder, the first telescopic rod of the first telescopic assembly is connected to the top surface of the fixed clamping block, and a spring is sleeved on the first telescopic rod; The second telescopic assembly is fixed to the piston rod of the cylinder; the lower end of the second telescopic rod of the second telescopic assembly is fixed to the movable clamping block, and a spring is sleeved on the second telescopic rod.

6. The pick-and-place device for the flexible sheet according to claim 1, wherein, It further includes a first belt pulley transmission unit, and the first belt pulley transmission unit includes: A driving motor, which is fixed on the mounting plate; A driving pulley, which is connected to the rotating shaft of the driving motor; A first driven pulley, which is rotatably connected to the side wall of the moving arm; A second driven pulley, which is rotatably connected to the side wall of the moving arm, and the second driven pulley and the first driven pulley are respectively arranged on both sides of the driving pulley along the axial direction of the driving pulley; A first synchronous belt, one end of which is fixed at the inner end of the moving arm and the other end is fixed at the outer end of the moving arm. The first synchronous belt is sequentially wound around the first driven pulley, the driving pulley, and the second driven pulley from the inner end of the moving arm. The first synchronous belt can drive the moving arm to reciprocate.

7. The pick-and-place device for the flexible sheet according to claim 6, characterized in that, It further includes a second belt pulley transmission unit, and the second belt pulley transmission unit includes: A first belt pulley, which is rotatably connected to the inner end of the moving arm; A second belt pulley, which is rotatably connected to the outer end of the moving arm, and the axial direction of the second belt pulley and the first belt pulley is parallel to the axial direction of the driving pulley; A second synchronous belt, which is wound around the first belt pulley and the second belt pulley. The upper belt body of the second synchronous belt is fixed to the mounting plate, and the lower belt body of the second synchronous belt is fixed to the cross beam. The lower belt body drives the cross beam to move, and the moving direction is the same as the moving direction of the moving arm.

8. The pick-and-place device for the flexible sheet according to claim 1, characterized in that, The lifting mechanism includes: A vertical guide rail, which is fixed to the frame; A second column, the bottom end of which is fixed to the mounting plate. A slider is fixed on the back of the second column. The second column is slidably matched with the vertical guide rail, and a second rack is fixed on the side of the second column; A lifting motor, which is fixed to the frame, and the transmission shaft of the lifting motor is meshed with the second rack on the side of the second column for transmission.

9. A glass loading machine, characterized in that, Including the picking and placing device for the flexible sheet according to any one of claims 1-8, the glass loading machine further includes a glass handling mechanism and a conveyor line; Glass handling mechanisms are respectively arranged on both sides of the conveying direction of the conveyor line. The feeding station is located below the glass handling mechanism. The picking and placing device is arranged on the feeding side or the discharging side of the conveyor line, and the picking and placing device and the glass handling mechanism are arranged adjacent to each other along the length direction of the sheet to be picked; The glass handling mechanism includes: A gantry, the top beam of which is located above the conveyor line, and two horizontal guide rails are arranged on the top beam. The length direction of the horizontal guide rails is the same as the width direction of the sheet to be picked; A substrate, on the bottom of which a slider is arranged. The substrate is slidably matched with the horizontal guide rails; A first motor, which is fixed to the substrate, and the transmission shaft of the first motor is meshed with the third rack inside the horizontal guide rail. The first motor drives the substrate to slide along the length direction of the horizontal guide rail; A first column, which is slidably matched with the gantry in the vertical direction, and a first rack is arranged on the side of the first column; A frame, which is fixed to the lower end of the first column, and a plurality of suction cups are arranged at the bottom of the frame; A second motor, which is fixed to the substrate, and the transmission shaft of the second motor is meshed with the first rack on the first column. The second motor drives the frame to move up and down.

10. A picking and placing method based on the picking and placing device described in claim 1, characterized in that, Including the following steps: S10: The first clamping unit is located at the sheet taking position, and the lifting mechanism drives the mounting plate, the moving arm and the first clamping unit to descend synchronously. The movable clamping block and the fixed clamping block of the first clamping unit are pressed against the surface of the sheet to be taken. S20: The power member drives the movable clamping block to approach the fixed clamping block, and the first clamping surface of the movable clamping block and the second clamping surface of the fixed clamping block clamp the sheet to be taken. S30: The lifting mechanism drives the movable clamping block, the fixed clamping block and the sheet to be taken to rise, and the part of the sheet to be taken rubbed by the movable clamping block bends towards the side where the fixed clamping block is located. S40: The moving arm drives the first clamping unit to slide to the sheet placing position, and the power member drives the movable clamping block to move away from the fixed clamping block, and the sheet to be taken falls to the sheet placing position. S50: The moving arm drives the first clamping unit to slide to the sheet taking position, and S10 is repeated.

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