Double-coated glass synchronous sheet taking gantry suction cup mechanism compatible with thickness difference

Abstract

The invention discloses a double-wrapped glass synchronous sheet taking gantry suction cup mechanism compatible with thickness difference, and relates to the technical field of automatic glass carrying equipment, the double-wrapped glass synchronous sheet taking gantry suction cup mechanism comprises a cross beam and a plurality of sets of assembly rods connected to the cross beam, and each set of assembly rods is provided with a plurality of sets of telescopic suction cup modules; the telescopic suction cup modules are electrically connected with the thickness difference adaptation control module. According to the double-wrapping glass grabbing device, the sucker partitions are flexibly set through the controller, the grabbing requirements of double-wrapping glass of different sizes can be accurately met, and targeted operation is achieved; by means of the telescopic action of the linear air cylinder and real-time fitting detection of the photoelectric sensor, each vacuum suction cup can be independently matched with the thickness of the corresponding glass, the problem of thickness difference between double-wrapped glass and caused by stacking is effectively solved, and it is ensured that all the suction cups can be stably fitted to the surface of the glass; and the conditions of unstable adsorption, missing grabbing or glass falling are avoided from the source.

Description

Technical Field

[0001] This invention relates to the field of automated glass handling equipment technology, and more specifically, to a gantry suction cup mechanism for synchronously picking up double-wrapped glass that is compatible with thickness differences. Background Technology

[0002] In the glass production and warehousing process, the gantry-type suction cup glass handling mechanism is one of the core pieces of equipment for realizing automated glass handling. Its operating efficiency and reliability directly affect the smoothness of the entire production and warehousing process.

[0003] Existing gantry suction cup mechanisms have several drawbacks, making them difficult to meet actual production needs. Firstly, their glass handling efficiency is low. Most mechanisms are equipped with only a single set of suction cups, capable of handling only one package of glass at a time. When two packages of raw glass from different batches are stacked on the glass rack, the handling operation must be completed in two separate steps, resulting in a long handling time per batch, which cannot meet the efficiency requirements of high-speed production lines. Secondly, their adaptability to thickness differences is poor. A few dual-suction cup mechanisms use a rigid fixed-spacing design, only suitable for dual-package glass with identical thicknesses. However, in actual production, different batches of glass may have thickness variations of 5-30mm, and the stacking of glass racks may also create height differences. This can cause one suction cup to fail to adhere to the glass surface, leading to unstable adhesion, missed grips, or even glass detachment, posing a safety risk. Thirdly, their structural reliability is insufficient. Some mechanisms attempting to adapt to thickness differences use a linkage telescopic structure. When the thickness difference is large, the linkage experiences concentrated stress, making it prone to deformation and jamming, resulting in longer equipment maintenance cycles and increased production and maintenance costs.

[0004] Therefore, developing a gantry suction cup mechanism that can simultaneously grasp double-layered glass, adapt to thickness differences, and has a reliable structure has become an urgent technical problem to be solved in the field of automated handling of architectural glass. Summary of the Invention

[0005] To address the problems in related technologies, this invention proposes a gantry suction cup mechanism for synchronously picking up double-wrapped glass that is compatible with different thicknesses. This mechanism enables synchronous picking of double-wrapped glass, adapts to glass with different thicknesses, improves structural reliability and handling efficiency, and overcomes the aforementioned technical problems in existing related technologies.

[0006] The technical solution of this invention is implemented as follows: A gantry suction cup mechanism for synchronously picking up double-layered glass sheets compatible with thickness differences includes: a crossbeam and several sets of assembly rods connected to the crossbeam, each set of assembly rods being provided with several sets of telescopic suction cup modules, and the several sets of telescopic suction cup modules being electrically connected to a thickness difference adaptation control module, wherein; The telescopic suction cup module includes: a telescopic drive component and a suction cup component. The telescopic drive component is used to drive the suction cup component to extend and retract, and the suction cup component is used to form a negative pressure sealing cavity to adsorb and release the glass. The thickness difference adaptation control module is used to detect the adhesion state between the suction cup assembly and the glass, control the movement of the telescopic drive assembly, and control the suction cup assembly to adsorb and detach from the glass.

[0007] Furthermore, the telescopic drive assembly includes: a linear cylinder, a guide rail, and a support plate, wherein the output end of the linear cylinder and the end of the guide rail are respectively fixedly connected to one side of the support plate; the slider is sleeved on the guide rail, and the slider is fixedly connected to the assembly rod.

[0008] Furthermore, the suction cup assembly includes: a vacuum suction cup and a vacuum module; the vacuum suction cup is fixedly mounted on the side of the support plate away from the linear cylinder; the vacuum module is used to control the vacuum suction cup to draw a vacuum or release pressure.

[0009] Furthermore, the thickness difference adaptation control module includes: a controller, a photoelectric sensor, and a solenoid valve. The controller is electrically connected to the photoelectric sensor, the solenoid valve, and the vacuum module, respectively. The solenoid valve is mounted on the assembly rod and adapted to the telescopic suction cup module. The solenoid valve is connected to the linear cylinder through an air pipe. The photoelectric sensor is mounted on the assembly rod and is used to detect the adhesion state between the vacuum suction cup and the glass. The controller controls the start and stop of the solenoid valve and the vacuum module in a coordinated manner, and controls the vacuum module to evacuate after receiving the adhesion signal from the photoelectric sensor.

[0010] Furthermore, the synchronous wafer picking control method of the thickness difference adaptation control module includes the following steps: Based on the size of the double-layered glass to be gripped, the corresponding suction cup partitions are set through the controller, and the telescopic suction cup modules participating in the operation are determined. The controller issues a chip-picking command, energizes the solenoid valve, drives the linear cylinder to extend, and moves the vacuum suction cup to the preset position. The external drive mechanism drives the suction cup holder to move towards the glass. When the vacuum suction cup contacts the glass, the corresponding linear cylinder is retracted by the reaction force. When it retracts to the preset stroke, it triggers the photoelectric sensor, generates a signal that the vacuum cup is in place, and transmits it to the controller. After receiving the contact signal from all the vacuum suction cups involved in the operation, the controller starts the vacuum module to simultaneously evacuate all the vacuum suction cups, thus achieving double-walled glass adsorption. After the external drive mechanism moves the adsorbed double-coated glass to the target position, the vacuum module depressurizes, the solenoid valve is de-energized and resets, and the linear cylinder extends and resets, waiting for the next film retrieval command.

[0011] Furthermore, the several sets of telescopic suction cup modules can be divided into at least two sets of suction cup partitions, each corresponding to the gripping area of ​​the double-sided glass, and the corresponding suction cup partition can be selected for operation by the controller.

[0012] The beneficial effects of this invention are: This invention allows for flexible configuration of suction cup zones via a controller, enabling precise matching of gripping requirements for double-walled glass of different sizes and achieving targeted operations. Utilizing the extension and retraction of linear cylinders and real-time contact detection by photoelectric sensors, each vacuum suction cup can independently adapt to the thickness of its corresponding glass, effectively addressing thickness differences between double-walled glass and those arising from stacking. This ensures all suction cups stably adhere to the glass surface, fundamentally preventing unstable adhesion, missed grips, or glass detachment. The controller receives a unified contact signal before activating the vacuum module for synchronous adsorption, ensuring both double-walled glass are firmly adsorbed simultaneously, achieving synchronized gripping and handling, significantly optimizing the workflow. The coordinated control of vacuum module depressurization and linear cylinder reset after handling ensures a smooth and efficient workflow, eliminating the need for complex mechanical linkage structures, reducing the risk of failure due to concentrated stress, improving the stability and reliability of the control process, simplifying the operating logic, reducing maintenance difficulty, and adapting to the automated handling needs of glass production and warehousing. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of a gantry suction cup mechanism for synchronous glass sheet picking that is compatible with thickness differences, according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the telescopic suction cup module structure of a gantry suction cup mechanism for synchronous glass sheet picking with compatibility with thickness differences according to an embodiment of the present invention. Figure 3 This is a scenario operation of a gantry suction cup mechanism for synchronously picking up double-layered glass sheets with compatibility with thickness differences, according to an embodiment of the present invention. Figure 1 ; Figure 4 This is a scenario operation of a gantry suction cup mechanism for synchronously picking up double-layered glass sheets with compatibility with thickness differences, according to an embodiment of the present invention. Figure 2 .

[0015] In the picture: 1. Telescopic suction cup module; 2. Thickness difference adaptation control module; 3. Crossbeam; 4. Assembly rod; 11. Telescopic drive assembly; 12. Suction cup assembly; 13. Linear cylinder; 14. Guide rail; 15. Support plate; 16. Vacuum suction cup; 17. Slider. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.

[0017] According to an embodiment of the present invention, a gantry suction cup mechanism for synchronously picking up double-layered glass sheets that is compatible with thickness differences is provided.

[0018] like Figures 1-2 As shown, the gantry suction cup mechanism for synchronous glass sheet taking with compatibility with thickness difference according to an embodiment of the present invention includes: a crossbeam 3 and several sets of assembly rods 4 connected to the crossbeam 3. Each set of assembly rods 4 is provided with several sets of telescopic suction cup modules 1. The several sets of telescopic suction cup modules 1 are electrically connected to the thickness difference adaptation control module 2 respectively. The telescopic suction cup module 1 includes: a telescopic drive assembly 11 and a suction cup assembly 12. The telescopic drive assembly 11 is used to drive the suction cup assembly 12 to extend and retract, and the suction cup assembly 12 is used to form a negative pressure sealed cavity to adsorb and release the glass. The thickness difference adaptation control module 2 is used to detect the adhesion state between the suction cup assembly 12 and the glass, control the action of the telescopic drive assembly 11, and control the suction cup assembly 12 to adsorb and detach from the glass.

[0019] The telescopic drive assembly 11 includes: a linear cylinder 13, a guide rail 14, and a support plate 15. The output end of the linear cylinder 13 and the end of the guide rail 14 are respectively fixedly connected to one side of the bearing plate 15, and a slider 17 is sleeved on the guide rail 14, and the slider 17 is fixedly connected to the assembly rod 4.

[0020] The suction cup assembly 12 includes a vacuum suction cup 16 and a vacuum module. The vacuum suction cup 16 is fixedly mounted on the side of the support plate 15 away from the linear cylinder 13, and the vacuum module is used to control the vacuum suction cup 16 to draw a vacuum or release pressure.

[0021] The thickness difference adaptation control module 2 includes a controller, a photoelectric sensor, and a solenoid valve. The controller is electrically connected to the photoelectric sensor, the solenoid valve, and the vacuum module. The solenoid valve is mounted on the assembly rod 4 and adapted to the telescopic suction cup module 1. The solenoid valve is connected to the linear cylinder 13 through an air pipe and is used to control the extension and retraction of the linear cylinder 13. The photoelectric sensor is mounted on the assembly rod 4 and is used to detect the adhesion status between the vacuum suction cup 16 and the glass. The controller controls the start and stop of the solenoid valve and the vacuum module in a linkage manner, and controls the vacuum module to evacuate when it receives the adhesion signal from the photoelectric sensor.

[0022] In this technical solution, a PLC controller is selected as the controller, a diffuse reflection photoelectric switch can be used as the photoelectric sensor, and a two-position five-way solenoid valve is selected as the solenoid valve to ensure the accuracy of signal transmission and action control.

[0023] Using the above technical solution, before the suction cup holder is ready to pick up glass from multiple areas, the solenoid valve controls the extension of the linear cylinder 13, which in turn drives the suction cup assembly 12 to extend to a preset position. The entire suction cup holder moves towards the glass. When the vacuum suction cup 16 at the end of the linear cylinder 13 contacts the glass, the suction cup holder continues to move forward. At this point, because the vacuum suction cup 16 is in contact with the glass, the linear cylinder 13 is compressed and contracts. When the linear cylinder 13 is compressed to a certain stroke, the photoelectric sensor next to the vacuum suction cup 16 is triggered and generates a signal. This signal is transmitted to the controller, indicating that the vacuum suction cup 16 in that area has been properly attached to the glass and vacuuming can begin. In addition, for other vacuum suction cups 16 that have not yet touched the glass, the suction cup holder continues to move forward until all vacuum suction cups 16 in other areas are attached to the corresponding glass. The photoelectric sensors are triggered, and all vacuum suction cups 16 in the area simultaneously begin vacuuming, completing the synchronous adsorption of the double-walled glass.

[0024] It should be noted that in this technical solution, the vacuum suction cup 16 and the vacuum module are made of high-strength, high-sealing material to form a sealed cavity after contacting the glass surface, ensuring the stability and reliability of the adsorption process.

[0025] Meanwhile, the vacuum module is a standard supporting system for realizing the adsorption function of the vacuum suction cup 16. It mainly consists of a vacuum generating device, such as a vacuum pump, vacuum generator, vacuum pipeline, vacuum valve, vacuum pressure detection element, such as a vacuum pressure switch, and control interface. Its working logic is as follows: the vacuum generating device extracts air from the sealed cavity between the vacuum suction cup 16 and the object being adsorbed, such as glass, creating a stable negative pressure within the sealed cavity. The pressure difference generated by this negative pressure enables object adsorption. The vacuum valve controls the opening and closing of the pipeline, and the pressure detection element monitors the vacuum level in real time to ensure stable negative pressure during adsorption and prevent leakage that could lead to adsorption failure. After handling is complete, air is introduced into the sealed cavity through the pressure relief valve to eliminate the negative pressure and separate the suction cup from the object. This vacuum module is widely used in automated handling and material gripping. Its structure, working principle, and control method are all existing mature technologies. This invention only provides a conventional adaptation and application, without modifying the structure or working principle of the vacuum system itself.

[0026] In addition, such as Figures 3-4 As shown, during the operation, based on the common glass dimensions, several independent telescopic suction cup modules 1 are divided into two groups, forming two suction cup zones, each corresponding to the gripping area of ​​the double-walled glass. When the thickness difference between the double-walled glass to be gripped is 20mm, the specific implementation process is as follows: The controller is configured to allow both suction cup partitions to participate in the operation. The controller issues a chip-picking command, the solenoid valve is energized, and all linear cylinders 13 are controlled to extend to their maximum stroke. The external drive mechanism drives the suction cup holder to move towards the glass. The thicker glass first contacts the vacuum suction cup 16 of the corresponding section. As the suction cup holder continues to move, the linear cylinder 13 of that section contracts under the reaction force. When the linear cylinder 13 of the partition contracts by 20mm, that is, when it matches the thickness difference, the corresponding photoelectric sensor is triggered and sends a fitting signal to the controller. The suction cup holder continues to move until the vacuum suction cup 16 of another section contacts the thinner glass, the corresponding linear cylinder 13 retracts, and the photoelectric sensor triggers the bonding signal. After the controller receives all the bonding signals, it activates the vacuum module, and all 16 vacuum suction cups are evacuated to adsorb the double-walled glass. The external drive mechanism moves the glass to the target position, the vacuum module depressurizes, the solenoid valve is de-energized, and the linear cylinder 13 resets, completing one handling operation.

[0027] In summary, by utilizing the technical solutions described above, the controller allows for flexible partitioning of the suction cups, precisely matching the gripping requirements of double-wrapped glass of different sizes and enabling targeted operations. The extension and retraction of the linear cylinder and real-time contact detection by photoelectric sensors allow each vacuum suction cup to independently adapt to the thickness of the corresponding glass, effectively addressing thickness differences between double-wrapped glass and during stacking. This ensures all suction cups stably adhere to the glass surface, preventing unstable adsorption, missed gripping, or glass detachment at the source. The controller receives the contact completion signal before activating the vacuum module for synchronous adsorption, ensuring that both double-wrapped glass are firmly adsorbed simultaneously, achieving synchronous gripping and handling, significantly optimizing the workflow. The coordinated control of vacuum module depressurization and linear cylinder reset after handling ensures a smooth and efficient workflow, eliminating the need for complex mechanical linkage structures, reducing the risk of failure due to concentrated force, improving the stability and reliability of the control process, simplifying the operation logic, reducing maintenance difficulty, and adapting to the automated handling needs of glass production and warehousing.

[0028] The above are merely preferred embodiments of the present invention and are not intended to limit the invention. Those skilled in the art, upon considering the disclosure in the specification and embodiments, will readily conceive of other embodiments of this disclosure. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the claims.

[0029] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A gantry suction cup mechanism for synchronously picking up double-layered glass sheets with compatibility with thickness differences, comprising: A crossbeam (3) and several sets of assembly rods (4) connected to the crossbeam (3), characterized in that each set of assembly rods (4) is provided with several sets of telescopic suction cup modules (1), and the several sets of telescopic suction cup modules (1) are electrically connected to the thickness difference adaptation control module (2) respectively; The telescopic suction cup module (1) includes: a telescopic drive assembly (11) and a suction cup assembly (12). The telescopic drive assembly (11) is used to drive the suction cup assembly (12) to extend and retract, and the suction cup assembly (12) is used to form a negative pressure sealed cavity to adsorb and release the glass. The thickness difference adaptation control module (2) is used to detect the adhesion state between the suction cup assembly (12) and the glass, and to control the action of the telescopic drive assembly (11) and the suction cup assembly (12) to adsorb and detach from the glass.

2. The gantry suction cup mechanism for synchronous glass sheet picking with compatibility with thickness differences as described in claim 1, characterized in that, The telescopic drive assembly (11) includes: a linear cylinder (13), a guide rail (14) and a support plate (15), wherein the output end of the linear cylinder (13) and the end of the guide rail (14) are respectively fixedly connected to one side of the support plate (15); a slider (17) is sleeved on the guide rail (14) and the slider (17) is fixedly connected to the assembly rod (4).

3. The gantry suction cup mechanism for synchronous glass sheet picking with compatibility with thickness differences as described in claim 2, characterized in that, The suction cup assembly (12) includes a vacuum suction cup (16) and a vacuum module; the vacuum suction cup (16) is fixedly mounted on the side of the support plate (15) away from the linear cylinder (13); the vacuum module is used to control the vacuum suction cup (16) to draw a vacuum or release pressure.

4. The gantry suction cup mechanism for synchronous glass sheet picking with compatibility with thickness differences as described in claim 3, characterized in that, The thickness difference adaptation control module (2) includes: a controller, a photoelectric sensor and a solenoid valve. The controller is electrically connected to the photoelectric sensor, the solenoid valve and the vacuum module respectively. The solenoid valve is mounted on the assembly rod (4) and adapted to the telescopic suction cup module (1). The solenoid valve is connected to the linear cylinder (13) through an air pipe. The photoelectric sensor is mounted on the assembly rod (4) and is used to detect the adhesion state of the vacuum suction cup (16) and the glass. The controller controls the start and stop of the solenoid valve and the vacuum module in linkage. After receiving the adhesion signal from the photoelectric sensor, it controls the vacuum module to evacuate.

5. The gantry suction cup mechanism for synchronous glass sheet picking with compatibility with thickness differences as described in claim 4, characterized in that, The synchronous wafer picking control method of the thickness difference adaptation control module (2) includes the following steps: Based on the size of the double-layered glass to be gripped, the corresponding suction cup partitions are set through the controller, and the telescopic suction cup modules participating in the operation are determined. The controller issues a chip-picking command, energizes the solenoid valve, drives the linear cylinder to extend, and moves the vacuum suction cup to the preset position. The external drive mechanism drives the suction cup holder to move towards the glass. When the vacuum suction cup contacts the glass, the corresponding linear cylinder is retracted by the reaction force. When it retracts to the preset stroke, it triggers the photoelectric sensor, generates a signal that the vacuum cup is in place, and transmits it to the controller. After receiving the contact signal from all the vacuum suction cups involved in the operation, the controller starts the vacuum module to simultaneously evacuate all the vacuum suction cups, thus achieving double-walled glass adsorption. After the external drive mechanism moves the adsorbed double-coated glass to the target position, the vacuum module depressurizes, the solenoid valve is de-energized and resets, and the linear cylinder extends and resets, waiting for the next film retrieval command.

6. The gantry suction cup mechanism for synchronous glass sheet picking with compatibility with thickness differences as described in claim 5, characterized in that, The several sets of telescopic suction cup modules (1) can be divided into at least two sets of suction cup partitions, which correspond to the gripping area of ​​the double-walled glass, and the corresponding suction cup partition can be selected for operation by the controller.

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