Flexible sheet material taking and placing device, taking and placing method, and glass loading machine

Abstract

The present invention discloses a flexible sheet picking and placing device, a picking and placing method and a glass loading machine, wherein the first clamping unit includes a crossbeam, a movable clamping block, a fixed clamping block and a power piece, and the crossbeam slides with the movable 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 taken, and the angle between 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 taken, the second clamping surface is parallel to the first clamping surface of the movable clamping block, the fixed clamping block is in a first position when it is spaced from the movable clamping block, and the second clamping surface of the fixed clamping block is in a second position when it is in contact with the first clamping surface of the movable clamping block; the power piece is arranged on the crossbeam, the power piece is connected to the movable clamping block, and the power piece can drive the movable clamping block to move from the first position to the second position. The present invention can meet the high-speed production rhythm.

Description

Technical Field

[0001] The present invention belongs to the field of solar cell manufacturing, and in particular relates to a flexible sheet material taking and placing device, a taking and placing method, and a glass loading machine. Background Art

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

[0003] During the photovoltaic module manufacturing process, the initial incoming material is stacked photovoltaic glass on a pallet, with paper between the two sheets. This requires removing the paper before feeding the photovoltaic glass onto a conveyor line, where it flows to the next processing station.

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

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

[0006] The above-mentioned object of the present invention is achieved by the following technical solution: A device for taking and placing a flexible sheet material comprises: a mounting plate, a lifting mechanism, a movable arm and a first clamping unit, the lifting mechanism being connected to the mounting plate, and the lifting mechanism being capable of driving the mounting plate towards or away from the sheet material to be taken;

[0007] The movable arm is slidably matched with the mounting plate, and the movable arm can slide between a sheet taking position and a sheet placing position;

[0008] The first clamping unit includes a crossbeam, a movable clamping block, a fixed clamping block and a power member, and the crossbeam is in sliding cooperation with the movable arm;

[0009] 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 taken, and the angle between the first bottom surface and the first clamping surface is an acute angle.

[0010] The fixed clamping block includes a second bottom surface and a second clamping surface, the second bottom surface can press the sheet to be taken, the second clamping surface is parallel to the first clamping surface of the movable clamping block, the fixed clamping block is spaced apart from the movable clamping block in the first position, and the second clamping surface of the fixed clamping block is in contact with the first clamping surface of the movable clamping block in the second position;

[0011] The power piece is arranged on the crossbeam and is connected to the movable clamping block. The power piece can drive the movable clamping block to reciprocate between the first position and the second position.

[0012] Furthermore, the flexible sheet picking and placing device also includes a second clamping unit, which is arranged at intervals 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 located on the same surface.

[0013] Furthermore, the flexible sheet material taking and placing device further comprises a third clamping unit, and the third clamping unit and the first clamping unit are arranged at intervals along the length direction of the sheet material to be taken;

[0014] 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.

[0015] Furthermore, the angle between the first bottom surface of the movable clamping block and the first clamping surface is θ, and the length of the sheet to be taken is L1; when the picking and placing device includes a first clamping unit and a second clamping unit, when the movable clamping blocks of the first clamping unit and the second clamping unit are located at the sheet taking position, the minimum distance between the movable clamping block and the short side of the sheet to be taken is L2, and 1 / 10≤L2 / L1≤1 / 2, 10°≤θ≤80° is satisfied;

[0016] When the picking and placing device includes a first clamping unit and a 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, and 10°≤θ≤80°.

[0017] Furthermore, the power member is a cylinder, and the cylinder body of the cylinder is fixed to the bottom surface of the crossbeam;

[0018] 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 body, 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;

[0019] 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.

[0020] Furthermore, the flexible sheet material taking and placing device further comprises a first pulley transmission unit, the first pulley transmission unit comprising: a driving motor, a driving pulley, a first driven pulley, a second driven pulley and a first synchronous belt, the driving motor being fixed to the mounting plate;

[0021] The driving wheel is connected to the rotating shaft of the driving motor; the first driven wheel is rotatably connected to the side wall of the movable arm; the second driven wheel is rotatably connected to the side wall of the movable arm, and the second driven wheel and the first driven wheel are respectively arranged on both sides of the axial direction of the driving wheel;

[0022] One end of the first synchronous belt is fixed to the inner end of the movable arm, and the other end is fixed to the outer end of the movable arm. The first synchronous belt is wound around the first driven wheel, the driving wheel, and the second driven wheel in sequence from the inner end of the movable arm. The first synchronous belt can drive the movable arm to reciprocate.

[0023] Furthermore, the flexible sheet pick-up and placement device also includes a second pulley transmission unit, which includes: a first pulley, a second pulley, and a second synchronous belt. The first pulley is rotatably connected to the inner end of the movable arm; the second pulley is rotatably connected to the outer end of the movable arm, and the axis of the second pulley and the first pulley is parallel to the axis of the driving pulley.

[0024] The second synchronous belt is wound around the first pulley and the second pulley, the upper belt body of the second synchronous belt is fixed to the mounting plate, the lower belt body of the second synchronous belt is fixed to the crossbeam, and the lower belt body drives the crossbeam to move and the moving direction is consistent with the moving direction of the movable arm.

[0025] Furthermore, 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, the back of the second column is fixed to the slider, the second column is slidably engaged with the vertical guide rail, and the side of the second column is fixed to the second rack;

[0026] The lifting motor 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.

[0027] Another embodiment of the present invention provides a glass loading machine, comprising the aforementioned flexible sheet material taking and placing device, the glass loading machine further comprising a glass handling mechanism and a conveyor line;

[0028] Glass transport mechanisms are provided on both sides of the conveying direction of the conveyor line. A feeding station is provided below the glass transport mechanism. A pick-up and place device is provided on the feeding side or the discharging side of the conveyor line. The pick-up and place device and the glass transport mechanism are arranged adjacent to each other along the length direction of the sheet to be taken.

[0029] The glass handling mechanism includes: a gantry, a base plate, a first motor, a first column, a frame and a second motor. The top beam of the gantry is located above the conveyor line. Two horizontal guide rails are provided on the top beam. The length direction of the horizontal guide rails is consistent with the width direction of the sheet to be taken.

[0030] A slider is provided at the bottom of the base plate, and the base plate slides in cooperation with the horizontal guide rail;

[0031] The first motor is fixed to the base plate, and the transmission shaft of the first motor is engaged with the third rack on the inner side of the horizontal guide rail. The first motor drives the base plate to slide along the length direction of the horizontal guide rail.

[0032] The first column and the gantry are in vertical sliding cooperation, and a first rack is provided on the side of the first column;

[0033] The frame is fixed to the lower end of the first column, and a plurality of suction cups are provided at the bottom of the frame;

[0034] The second motor is fixed to the base plate, the transmission shaft of the second motor is engaged with the first rack on the first column, and the second motor drives the frame to move up and down.

[0035] Another embodiment of the present invention provides a pick-and-place method based on the aforementioned pick-and-place device, comprising the following steps:

[0036] S10: The first clamping unit is located at the sheet taking position, and the lifting mechanism drives the mounting plate, the movable arm, and the first clamping unit to descend synchronously, so that 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;

[0037] 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;

[0038] S30: The lifting mechanism drives the movable clamping block, the fixed clamping block and the sheet to be taken up, and the portion of the sheet to be taken that is moved by the movable clamping block is bent toward the side where the fixed clamping block is located;

[0039] S40: The movable arm drives the first clamping unit to slide to the sheet placing position, and the power member drives the movable clamping block away from the fixed clamping block, and the sheet to be taken falls to the sheet placing position;

[0040] S50: The movable arm drives the first clamping unit to slide to a sheet taking position, and S10 is repeated.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] By setting the angle θ between the first bottom surface and the first clamping surface of the movable clamping block to an acute angle, the second clamping surface of the fixed clamping block is parallel to the first clamping surface of the movable clamping block. In this way, 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, and the short side of the paper can be bent inward. The paper includes a horizontal part and a bent part. Compared with the initial length of the paper, the length of the paper after clamping is reduced by more than 30%, which can shorten the paper picking and placing stroke, meet the high-speed production rhythm, and improve production efficiency.

[0043] Since the short side of the paper can be bent inward, the first clamping unit moves to the sheet placement position to release the sheet to be taken, and the horizontal part and the bent part overlap together, so that the sheet to be taken can be laid flat on the sheet placement position on the paper placement 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, reducing the frequency of cleaning papers on the paper placement trolley. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A three-dimensional diagram of a pick-and-place device in an embodiment of the present invention in a position for taking a sheet;

[0045] Figure 2 A diagram showing the process of a pick-and-place device clamping a sheet and moving it toward a sheet placing position in one embodiment of the present invention;

[0046] Figure 3 A three-dimensional diagram of a pick-and-place device in a sheet placing position according to an embodiment of the present invention;

[0047] Figure 4 This is a side view of the first clamping unit before clamping the sheet in one embodiment of the present invention;

[0048] Figure 5 A side view of a first clamping unit after clamping a sheet and rising in one embodiment of the present invention;

[0049] Figure 6 A three-dimensional diagram of a pick-and-place device in another embodiment of the present invention in a sheet placing position;

[0050] Figure 7 A side view of another embodiment of the present invention in which the first clamping unit and the third clamping unit clamp a sheet and rise;

[0051] Figure 8 A top view of a pick-and-place device according to an embodiment of the present invention;

[0052] Figure 9 for Figure 8 Middle CC section view;

[0053] Figure 10 for Figure 8 Middle DD section view;

[0054] Figure 11 This is a three-dimensional diagram of a glass loader;

[0055] Figure 12 for Figure 11 A three-dimensional diagram of the glass handling mechanism. DETAILED DESCRIPTION

[0056] The present invention provides a device for taking and placing a flexible sheet, such as Figures 1-12shown.

[0057] The flexible sheet material of the present invention can be paper, plastic film, cloth, metal foil, etc. The specific type of the flexible sheet material is not limited. The following description will only take the flexible sheet material as an example.

[0058] A flexible sheet material placement device includes a mounting plate 11, a lifting mechanism, a movable arm 20, and a first clamping unit 30a. The lifting mechanism is connected to the mounting plate 11 and can drive the mounting plate 11 toward or away from the material to be taken.

[0059] The movable arm 20 is in sliding cooperation with the mounting plate 11 , and the movable arm 20 can slide between a sheet taking position 401 and a sheet placing position 402 ;

[0060] The first clamping unit 30a includes a movable clamping block 31, a fixed clamping block 32, a crossbeam 33 and a power part 34. The crossbeam 33 slides with the movable arm 20. A specific solution may be that two mutually parallel first guide rails 21 are fixed on the top of the movable arm 20, and two mutually parallel second guide rails 22 are fixed on the bottom. The slider at the bottom of the mounting plate 11 slides with the first guide rail 21 at the top of the movable arm 20, and the slider at the top of the crossbeam 33 slides with the second guide rail 22 at the bottom of the movable arm 20.

[0061] 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 the paper A to be taken out. The angle between the first bottom surface 311 and the first clamping surface 312 is an acute angle.

[0062] The fixed clamping block 32 includes a second bottom surface 321 and a second clamping surface 322. The second bottom surface 321 can press the paper A to be taken out. 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 the first position. When the second clamping surface 322 of the fixed clamping block 32 and the first clamping surface 312 of the movable clamping block 31 are in contact, it is the second position.

[0063] The power member 34 is disposed on the crossbeam 33 . The power member 34 is connected to the movable clamping block 31 . The power member 34 can drive the movable clamping block 31 to reciprocate between the first position and the second position.

[0064] The first clamping unit 30a of the present invention sets the angle θ between the first bottom surface 311 and the first clamping surface 312 of the movable clamping block 31 to 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. In this way, after the movable clamping block 31 and the fixed clamping block 32 clamp the paper, the lifting mechanism drives the mounting plate 11 and the first clamping unit 30a to rise synchronously, and the short side of the paper can be bent inward. The paper includes a horizontal portion A1 and a bent portion A2.

[0065] Compared with the initial length of the paper, the length of the paper after clamping is reduced by more than 30%, which can shorten the paper picking and placing stroke, meet the high-speed production rhythm, and improve production efficiency.

[0066] The paper A to be picked up is a piece of paper. Since the short side of the paper can be bent inward, the first clamping unit 30a moves to the sheet placement position 402 to release the paper A to be picked up. The horizontal part A1 and the bent part A2 overlap together, so that the paper A to be picked up can be laid flat on the sheet placement position 402 on the paper placement cart, avoiding uneven paper placement and occupying a large amount of vertical height. The solution provided by the present invention can place more paper in the same vertical space, reducing the frequency of cleaning paper on the paper placement cart.

[0067] In addition, if Figure 5 As 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. The pressure F exerted on the fixed clamping block 32 is decomposed into a vertical upward component F1 and a horizontal rightward component F2. The horizontal rightward component F2 is smaller, 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 deformation of the telescopic rod 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 wearing parts.

[0068] See also Figure 1-Figure 3 The picking and placing device also includes a second clamping unit 30b, which is arranged at intervals with the first clamping unit 30a along the width direction M2 of the paper A to be picked up. The second clamping unit 30b has the same structure as 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 located on the same surface.

[0069] In the above embodiment, there are two second clamping units 30b. Thus, the pick-and-place device includes three clamping units spaced apart along the paper width direction M2, ensuring that the paper can be stably clamped and bent to the designed angle. More than three second clamping units 30b may also be provided.

[0070] See also Figure 6 In another embodiment of the present invention, the pick-and-place device further includes a third clamping unit 30c, and the third clamping unit 30c and the first clamping unit 30a are spaced apart along the length direction M1 of the paper A to be picked up;

[0071] The third clamping unit 30c has the same structure as the first clamping unit 30a. 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.

[0072] like Figure 7 As shown, the first clamping unit 30a and the third clamping unit 30c can clamp the two short sides of the paper A to be taken and bend them inward, that is, the paper A to be taken includes a bending portion A2, a horizontal portion A1, and a bending portion A2 in sequence.

[0073] Since the fixed clamping blocks 32 of the first clamping unit 30a and the third clamping unit 30c press the surface of the paper A to be taken, the present invention arranges the fixed clamping blocks 32 of the first clamping unit 30a and the third clamping unit 30c between the movable clamping blocks 31, so that 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 taken, and the movable clamping block 31 of the first clamping unit 30a bends the free side of the right side of the paper A to be taken inward, and the movable clamping block 31 of the third clamping unit 30c bends the free side of the left side of the paper A to be taken inward.

[0074] Compared with the initial length of the paper A to be taken, the first clamping unit 30a and the third clamping unit 30c provided in the present invention can reduce the length of the paper A to be taken after clamping by more than 50%, significantly shortening the paper taking and placing stroke, and further improving the production rhythm.

[0075] Specifically, the angle between 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 taken is L1;

[0076] When the pick-and-place device includes a first clamping unit 30a and a second clamping unit 30b, when the movable clamping block 31 of the first clamping unit 30a and the second clamping unit 30b is located at the sheet taking position 401, the minimum distance between the movable clamping block 31 and the short edge of the paper is L2, and 1 / 10≤L2 / L1≤1 / 2, and 10°≤θ≤80° is satisfied;

[0077] When the picking and placing device includes a first clamping unit 30a and a third clamping unit 30c, when the movable clamping block 31 of the first clamping unit 30a is located at the sheet picking position 401, the minimum distance between the movable clamping block 31 of the first clamping unit 30a and the short edge of the paper is L2, and the minimum distance between the movable clamping block 31 of the third clamping unit 30c and the short edge of the paper is L3, satisfying 1 / 10≤L2 / L1≤1 / 3, 1 / 10≤L3 / L1≤1 / 3, and 10°≤θ≤80°.

[0078] The angle θ between the first bottom surface 311 and the first clamping surface 312 of the movable clamping block 31 can be 20°, 30°, 40°, 50°, 60°, or 70°.

[0079] The angle θ between the first bottom surface 311 and the first clamping surface 312 of the movable clamping block 31 of the present invention is 30°, so the bending state of the paper is better, and the bending moment of the telescopic rod connected to the fixed clamping block 32 and the movable clamping block 31 is smaller.

[0080] The power member 34 of the pick-and-place device of the present invention is a cylinder, and the cylinder body of the cylinder is fixed to the bottom surface of the crossbeam 33;

[0081] The first clamping unit 30a further includes a first telescopic assembly 35 and a second telescopic assembly 36. The first telescopic assembly 35 is fixed to the bottom surface of the cylinder body. The first telescopic rod of the first telescopic assembly 35 is connected to the top surface of the fixed clamping block 32. The first telescopic rod is provided with a spring.

[0082] The second telescopic assembly 36 is fixed to the piston rod of the cylinder; the lower end of the second telescopic rod of the second telescopic assembly 36 is fixed to the movable clamping block 31, and a spring is sleeved on the second telescopic rod.

[0083] The fixed clamping block 32 and the movable clamping block 31 of the first clamping unit 30 a can float and press the paper A to be taken on the glass B to avoid impacting the glass B and causing damage to the glass B.

[0084] See also Figure 3 As shown, Figure 3 To hide the perspective view of the pick-and-place device behind the moving arm, the first and second pulley transmission units driving the first clamping unit 30a to reciprocate along the length direction M1 of the paper A to be picked up are described below in detail.

[0085] like Figure 3 、 Figure 8 and Figure 9 As shown, the pick-and-place device further includes a first pulley transmission unit, which includes a drive motor 41, a driving pulley 42, a first driven pulley 43, a second driven pulley 44 and a first synchronous belt 45. The drive motor 41 is fixed to the mounting plate 11;

[0086] The driving wheel 42 is connected to the rotating shaft of the driving motor 41; the first driven wheel 43 is rotatably connected to the side wall of the movable arm 20;

[0087] The second driven wheel 44 is rotatably connected to the side wall of the movable arm 20, and the second driven wheel 44 and the first driven wheel 43 are respectively placed on both sides of the axial direction of the driving wheel 42;

[0088] One end of the first synchronous belt 45 is fixed to the inner end of the movable arm 20, and the other end is fixed to the outer end of the movable arm 20. The first synchronous belt 45 is wound around the first driven wheel 43, the driving wheel 42, and the second driven wheel 44 in sequence from the inner end of the movable arm 20. The first synchronous belt 45 can drive the movable arm 20 to reciprocate.

[0089] Furthermore, if Figure 3 、 Figure 8 and Figure 10 As shown, the pick-and-place device of the present invention further includes a second pulley transmission unit, which 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 movable arm 20.

[0090] The second pulley 52 is rotatably connected to the outer end of the movable arm 20 , and the axial directions of the second pulley 52 and the first pulley 51 are parallel to the axial direction of the driving pulley 42 ;

[0091] 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 crossbeam 33. The lower belt body 532 drives the crossbeam to move and the moving direction is consistent with the moving direction of the movable arm 20.

[0092] like Figure 9 As shown, when the first synchronous belt 45 drives the movable arm 20 to slide leftward along the M1 direction, as shown in FIG. Figure 10 As shown, since the upper belt body 531 of the second synchronous belt 53 is fixed to the mounting plate 11 , the lower belt body 532 will drive the crossbeam 33 to move leftward along the M1 direction.

[0093] In short, if Figure 9 As shown, the first synchronous belt 45 drives the movable arm 20 and the crossbeam 33 to move leftward along M1 at a speed V. Figure 10 As shown, the second synchronous belt 53 drives the beam 33 to move leftward along M1 at a speed V. Compared with the transmission speed V of the first synchronous belt, the additional second pulley transmission unit of the present invention enables the movement speed of the beam 33 to be increased to 2V.

[0094] That is, the moving speed of the first clamping unit 30a is increased to 2V, and the paper picking and placing speed of the first clamping unit 30a is significantly improved, which greatly reduces the time required for picking and placing paper and meets the high-beat loading speed.

[0095] The lifting mechanism of the pick-and-place 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;

[0096] The bottom end of the second column 62 is fixed to the mounting plate 11, the back of the second column 62 is fixed to the slider, the second column 62 is slidably engaged with the vertical guide rail 61, and the side of the second column 62 is fixed to the second rack 63;

[0097] 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 transmission.

[0098] like Figure 11 As shown, the present invention further provides a glass loading machine, comprising the aforementioned pick-up and placement device 100, the glass loading machine further comprising a glass conveying mechanism 200 and a conveying line 300;

[0099] Glass transport mechanisms 200 are provided on both sides of the conveying line 300 in the conveying direction. A feeding station is provided below the glass transport mechanism 200. A pick-up and place device 100 is provided on the feeding side or the discharging side of the conveying line 300. The pick-up and place device 100 and the glass transport mechanism 200 are arranged adjacent to each other along the longitudinal direction M1 of the paper A to be taken.

[0100] The glass loader's feeding stations include a first feeding station and a second feeding station. The two feeding stations are used to place stacked glass on a pallet, with paper between the two pieces of glass. The feeding stations are the aforementioned sheet loading positions 401. Below the loading and unloading mechanism is a paper loading trolley, also known as the sheet loading position 402. The two feeding stations are located on either side of the conveyor line 300 and below the two glass handling mechanisms 200.

[0101] The two glass transport mechanisms 200 and the conveyor line 300 are arranged horizontally, and the two pick-and-place devices 100 are arranged vertically. The layout of the glass loader is more compact, which reduces the floor space of the glass loader.

[0102] The two glass handling mechanisms 200 of the glass loader can load materials alternately at the same time. While the glass B is loaded on both sides, the two pick-up and placement devices 100 arranged longitudinally can cooperate to take paper at the same time, realizing material change without stopping the machine, which can greatly improve production efficiency.

[0103] like Figure 12 As shown, the glass transport 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. Two horizontal guide rails 206 are provided on the top beam. The length direction of the horizontal guide rails 206 is consistent with the width direction of the paper A to be taken.

[0104] A slider is provided at the bottom of the base plate 201, and the base plate 201 slides in cooperation with the horizontal guide rail 206;

[0105] The first motor 202 is fixed to the base plate 201 , and the transmission shaft of the first motor 202 is engaged with the third rack 208 inside the horizontal guide rail 206 , and the first motor 202 drives the base plate 201 to slide along the length direction of the horizontal guide rail 206 ;

[0106] The first column 203 is in vertical sliding cooperation with the gantry 210, and a first rack 2031 is provided on the side of the first column 203;

[0107] The frame 204 is fixed to the lower end of the first column 203, and a plurality of suction cups 2041 are provided at the bottom of the frame 204;

[0108] The second motor 205 is fixed to the base plate 201 , and the transmission shaft of the second motor 205 is engaged 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.

[0109] An embodiment of the present invention provides a paper picking method based on the aforementioned picking and placing device 100, comprising the following steps:

[0110] S10: Figure 1 As shown, the first clamping unit 30a is located at the sheet taking position 401, and the lifting mechanism drives the mounting plate 11, the movable 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 onto the glass B to be taken by the movable clamping block 31 and the fixed clamping block 32.

[0111] S20: The power member 34 drives the movable clamping block 31 to move closer to 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 out;

[0112] S30: The lifting mechanism drives the movable clamping block 31, the fixed clamping block 32 and the paper A to be taken up, and the portion of the paper A to be taken that is rubbed by the movable clamping block 31 is bent toward the side where the fixed clamping block 32 is located;

[0113] like Figure 2 As shown, the movable arm 20 drives the first clamping unit 30 a and the paper A to be taken to slide toward the sheet placing position 402 .

[0114] S40: Figure 3 As shown, the movable 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 away from the fixed clamping block 32, and the paper A to be taken falls to the sheet placing position 402;

[0115] S50: The movable arm 20 drives the first clamping unit 30a to slide to the sheet taking position 401, and S10 is repeated.

[0116] An embodiment of the present invention provides a paper picking method based on the aforementioned picking and placing device 100. The picking 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.

[0117] The second clamping unit 30b is spaced apart from the first clamping unit 30a along the width direction M2 of the paper A to be taken out, 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 located on the same plane.

[0118] The third clamping unit 30c is spaced apart from the first clamping unit 30a along the length direction M1 of the paper A to be taken, 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.

[0119] 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, and the lifting mechanism drives the mounting plate 11, the movable arm 20, and the first clamping unit 30a, the second clamping unit 30b, and the third clamping unit 30c to descend synchronously. The bottom surfaces of the movable clamping blocks 31 and the fixed clamping blocks 32 of the first clamping unit 30a, the second clamping unit 30b, and the third clamping unit 30c are pressed against the paper surface of the paper A to be taken, that is, the paper A to be taken is pressed onto the glass B to be taken by the movable clamping block 31 and the fixed clamping block 32.

[0120] S21: The power member 34 drives the movable clamping block 31 toward the fixed clamping block 32. The first clamping surfaces 312 of the first and second clamping units and the second clamping surface 322 of the fixed clamping block 32 clamp the paper A to be taken out. The first clamping surface 312 of the movable clamping block 31 of the third clamping unit 30c and the second clamping surface 322 of the fixed clamping block 32 clamp the paper A to be taken out.

[0121] S31: The lifting mechanism drives the movable clamping block 31, the fixed clamping block 32 and the paper A to be taken up. Figure 7 As 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 inwardly, and the movable clamping block 31 of the third clamping unit 30c rubs the other side of the paper A to be taken inwardly;

[0122] S41: If Figure 6As shown, the movable arm 20 drives the first clamping unit 30a, the second clamping unit 30b, and the third clamping unit 30c to slide to the sheet placement position 402, and the power member 34 drives the movable clamping block 31 away from the fixed clamping block 32, and the paper A to be taken falls to the sheet placement position 402;

[0123] S51: The movable 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 repeats S11.

[0124] An embodiment of the present invention provides a loading method based on the aforementioned glass loading machine, comprising the following steps:

[0125] S10: Figure 1 As shown, the first clamping unit 30a is located at the sheet taking position 401, and the lifting mechanism drives the mounting plate 11, the movable 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 onto the glass B to be taken by the movable clamping block 31 and the fixed clamping block 32.

[0126] S20: The power member 34 drives the movable clamping block 31 to move closer to 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 out;

[0127] S30: The lifting mechanism drives the movable clamping block 31, the fixed clamping block 32 and the paper A to be taken up, and the portion of the paper A to be taken that is rubbed by the movable clamping block 31 is bent toward the side where the fixed clamping block 32 is located;

[0128] like Figure 2 As shown, the movable arm 20 drives the first clamping unit 30 a and the paper A to be taken to slide toward the sheet placing position 402 .

[0129] S40: Figure 3 As shown, the movable 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 away from the fixed clamping block 32, and the paper A to be taken falls to the sheet placing position 402;

[0130] S50: Figure 10 As shown, during the process of the first clamping unit 30a of the pick-and-place device 100 moving toward the sheet placement position 402, the frame 204 of the glass conveying mechanism 200 descends along the vertical direction M3, and the plurality of suction cups 2041 on the frame 204 are adsorbed onto the surface of the glass B;

[0131] S60: The frame 204 of the glass conveying 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;

[0132] S70: The frame 204 descends along the vertical direction M3 to a set height, the suction cups 2041 on the frame 204 release the negative pressure, and the glass B is placed on the conveyor line 300;

[0133] S80: The frame 204 of the glass conveying mechanism 200 is reset to above the feeding station;

[0134] S90: In step S60, while the frame 204 of the glass conveying mechanism 200 absorbs the glass B and moves toward the conveying line 300, the movable arm 20 drives the first clamping unit 30a to slide to the sheet taking position 401, and S10 is repeated.

[0135] The above are only some embodiments of the present invention. For those skilled in the art, several modifications and improvements can be made without departing from the inventive concept of the present invention, which all fall within the scope of protection of the present invention.

Claims

1. A flexible sheet material taking and placing device, characterized in that: include: Mounting plate; A lifting mechanism connected to the mounting plate, the lifting mechanism being capable of driving the mounting plate toward or away from the sheet of material to be taken; A movable arm, which is in sliding cooperation with the mounting plate, and the movable arm can slide between a sheet taking position and a sheet placing position; A first clamping unit, comprising: a crossbeam in sliding engagement with the movable arm; A movable clamping block, comprising a first bottom surface and a first clamping surface, wherein the first bottom surface of the movable clamping block can press the sheet to be taken, and the angle between the first bottom surface and the first clamping surface is an acute angle; A fixed clamping block, comprising a second bottom surface and a second clamping surface, wherein the second bottom surface is capable of pressing 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 is in a first position when the fixed clamping block is spaced from the movable clamping block, 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; a power member disposed on the crossbeam, the power member being connected to the movable clamping block, and capable of driving the movable clamping block to reciprocate between a first position and a second position; The flexible sheet taking and placing device further includes a second clamping unit, the second clamping unit and the first clamping unit are arranged in a width direction of the sheet to be taken, the second clamping unit and the first clamping unit have the same structure, and the first clamping surfaces of the movable clamping blocks of the first clamping unit and the second clamping unit are located on the same surface; The angle between the first bottom surface of the movable clamping block and the first clamping surface is θ, and the length of the sheet to be taken is L1; When the picking and placing device includes a first clamping unit and a second clamping unit, when the movable clamping blocks of the first clamping unit and the second clamping unit are located 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°.

2. The flexible sheet material taking and placing device according to claim 1, characterized in that: It also includes a third clamping unit, wherein the third clamping unit and the first clamping unit are arranged at intervals along the length direction of the sheet to be taken; 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.

3. The flexible sheet material taking and placing device according to claim 2, characterized in that: When the picking and placing device includes a first clamping unit and a 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, and 10°≤θ≤80°.

4. The flexible sheet material taking and placing device according to claim 1, characterized in that: The power member is a cylinder, and the cylinder body of the cylinder is fixed to the bottom surface of the crossbeam; The first clamping unit further includes a first telescopic assembly and a second telescopic assembly, wherein the first telescopic assembly is fixed to the bottom surface of the cylinder body of the cylinder, a 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.

5. The flexible sheet material taking and placing device according to claim 1, characterized in that: Also included is a first pulley transmission unit, the first pulley transmission unit comprising: a drive motor fixed to the mounting plate; A driving wheel connected to the rotating shaft of the driving motor; a first driven wheel, which is rotatably connected to the side wall of the movable arm; a second driven wheel, which is rotatably connected to the side wall of the movable arm, and the second driven wheel and the first driven wheel are respectively disposed on both sides of the axial direction of the driving wheel; A first synchronous belt, one end of which is fixed to the inner end of the movable arm and the other end is fixed to the outer end of the movable arm. The first synchronous belt is sequentially wound around the first driven wheel, the driving wheel, and the second driven wheel from the inner end of the movable arm. The first synchronous belt can drive the movable arm to reciprocate.

6. The flexible sheet material taking and placing device according to claim 5, characterized in that: Also included is a second pulley transmission unit, the second pulley transmission unit comprising: a first pulley, which is rotatably connected to the inner end of the movable arm; A second pulley is rotatably connected to the outer end of the movable arm, wherein the axial direction of the second pulley and the first pulley is parallel to the axial direction of the driving pulley; The second synchronous belt is wound around the first pulley and the second 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 crossbeam. The lower belt body drives the crossbeam to move and the moving direction is consistent with the moving direction of the movable arm.

7. The flexible sheet material taking and placing device according to claim 1, characterized in that: The lifting mechanism comprises: A vertical guide rail fixed to the frame; A second column, the bottom end of which is fixed to the mounting plate, a slider is fixed to the back of the second column, the second column is slidably engaged 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 is meshed with the second rack on the side of the second column for transmission.

8. A glass loading machine, characterized in that: A device for taking and placing the flexible sheet material according to any one of claims 1 to 7, wherein the glass loading machine further comprises a glass handling mechanism and a conveyor line; Glass conveying mechanisms are respectively provided on both sides of the conveying direction of the conveyor line, a feeding station is provided below the glass conveying mechanism, the pick-up and placement device is provided on the feeding side or the discharging side of the conveyor line, and the pick-up and placement device and the glass conveying mechanism are arranged adjacent to each other along the length direction of the sheet to be taken; The glass handling mechanism comprises: A gantry, whose top beam is located above the conveyor line, and two horizontal guide rails are provided on the top beam, and the length direction of the horizontal guide rails is consistent with the width direction of the sheet to be taken; A base plate, a slider is provided at the bottom of the base plate, and the base plate is slidably engaged with the horizontal guide rail; a first motor, which is fixed to the base plate, wherein a transmission shaft of the first motor is engaged with a third rack on the inner side of the horizontal guide rail, and the first motor drives the base plate to slide along the length direction of the horizontal guide rail; A first column, which is in vertical sliding cooperation with the gantry, and a first rack is provided on the side of the first column; a frame fixed to the lower end of the first column, with a plurality of suction cups provided at the bottom of the frame; A second motor is fixed to the base plate, a transmission shaft of the second motor is engaged with the first rack on the first column, and the second motor drives the frame to move up and down.

9. A pick-and-place method based on the pick-and-place device according to claim 1, characterized in that: The steps include: S10: The first clamping unit is located at the sheet taking position, and the lifting mechanism drives the mounting plate, the movable arm, and the first clamping unit to descend synchronously, so that 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 up, and the portion of the sheet to be taken that is moved by the movable clamping block is bent toward the side where the fixed clamping block is located; S40: The movable arm drives the first clamping unit to slide to the sheet placing position, and the power member drives the movable clamping block away from the fixed clamping block, and the sheet to be taken falls to the sheet placing position; S50: The movable arm drives the first clamping unit to slide to a sheet taking position, and S10 is repeated.

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