Workshop assembly line glass reversing sorting manipulator

Abstract

The application provides a workshop assembly line glass reversing sorting manipulator, and relates to the technical field of glass processing automation equipment. The workshop assembly line glass reversing sorting manipulator comprises a stand column, a lifting assembly is arranged on the stand column, the lifting assembly is used for taking and transferring glass, a sorting assembly, a reversing assembly and a fixing assembly are installed on the lifting assembly, the sorting assembly is used for picking and transferring glass, the reversing assembly is used for adjusting the orientation and position of glass, the fixing assembly is used for adsorbing glass, so that the glass can be kept stable during movement, a turnover assembly is installed on the lifting assembly, and the turnover assembly is used for automatically turning over the glass. The application has the advantages of high function integration, integrated completion of multi-process operation, greatly improved production efficiency, double independent negative pressure adsorption circuits, stable grabbing and non-interfering operation, and adaptation to the requirement of double-sided processing.

Description

Technical Field

[0001] This invention relates to the field of automated glass processing equipment, specifically a glass reversing and sorting robot for a workshop assembly line. Background Technology

[0002] In modern industrial glass production lines, glass sheets undergo multiple processing steps after forming, including transfer, posture correction, sorting, and front and back processing. To improve the standardization and efficiency of glass processing, the industry commonly uses robotic arms to replace manual labor in glass handling, sorting, and other operations. The use of robotic arms on production lines can replace manual labor in various repetitive tasks, stabilizing production rhythm and improving line efficiency; eliminating human error and ensuring consistent product quality; reducing labor pressure in repetitive positions; and mitigating safety risks associated with high-risk environments. Simultaneously, it facilitates the automation upgrade of production lines, enhances line flexibility, and promotes the development of digital and unmanned production models, achieving multiple goals for enterprises: improving quality, increasing efficiency, reducing costs, and ensuring safety.

[0003] However, existing traditional glass sorting robots have limited functions, mostly only possessing simple lifting, picking, and horizontal transport capabilities. Their structural designs are relatively simple, making them unable to achieve automatic glass reversal and positioning, or automated flipping operations. When glass workpieces require processing on both sides, existing equipment cannot autonomously complete the flipping process. Manual assistance is usually required to flip the glass, adjust its orientation, or coordinate with multiple machines of different functions. This cumbersome process significantly reduces the overall production efficiency of the assembly line while increasing labor and equipment costs.

[0004] Therefore, it is necessary to provide a new type of glass reversing and sorting robot for workshop production lines to solve the above-mentioned technical problems. Summary of the Invention

[0005] The purpose of this invention is to provide a glass reversing and sorting robot for workshop production lines with high functional integration, which can complete multiple processes in one unit, greatly improve production efficiency, has dual independent negative pressure adsorption circuits, stable gripping and no interference between operations, and is suitable for double-sided processing requirements.

[0006] To solve the above-mentioned technical problems, the present invention provides a workshop assembly line glass reversing and sorting robot comprising: a column, on which a lifting component is provided for picking up and transferring glass; a sorting component, a reversing component, and a fixing component are installed on the lifting component; the sorting component is used to pick up and transfer glass; the reversing component is used to adjust the orientation and position of the glass; the fixing component is used to adsorb the glass to keep it stable during movement; and a flipping component is installed on the lifting component for automatically flipping the glass to facilitate sequential processing of both sides of the glass.

[0007] Furthermore, the lifting assembly includes: a lifting adjustment plate, a rack, two rectangular plates, an electric motor, a linkage rod, and a circular gear. The lifting adjustment plate is slidably mounted on the column. The rack is fixedly mounted on one side of the lifting adjustment plate. Both rectangular plates are fixedly mounted on one side of the column. The electric motor is fixedly mounted on one side of the corresponding rectangular plate. The linkage rod is rotatably mounted between the two rectangular plates. The output shaft of the electric motor is fixedly connected to one end of the linkage rod. The circular gear is fixedly sleeved on the linkage rod and meshes with the rack.

[0008] Furthermore, the sorting assembly includes: a horizontal plate, four connecting rods, a mounting frame, a second rack, a sliding hole, a U-shaped frame, a second electric motor, a driven rod, a second circular gear, and a docking plate. The horizontal plate is fixedly installed on one side of the lifting adjustment plate. The four connecting rods are all fixedly installed at the bottom of the horizontal plate. The mounting frame is fixedly installed at the bottom of the four connecting rods. The second rack is fixedly installed on the bottom inner wall of the mounting frame. The sliding hole is opened on the mounting frame. The U-shaped frame is slidably fitted on the mounting frame. The second electric motor is fixedly installed on one side of the U-shaped frame. The driven rod is rotatably installed on the U-shaped frame. One end of the driven rod is fixedly connected to the output shaft of the second electric motor. The second circular gear is fixedly fitted on the driven rod and meshes with the second rack. The docking plate is fixedly installed between the two inner walls of the U-shaped frame and is slidably installed in the sliding hole.

[0009] Furthermore, the reversing assembly includes: a splicing plate, two electric push rods, an annular connecting block, an annular fixed block, a support plate, a mounting block, a vertical rod, an electric motor, and two circular gears. The splicing plate is fixedly installed at the bottom of the U-shaped frame. Both electric push rods are fixedly installed at the bottom of the splicing plate. The annular connecting block is fixedly installed on the output rods of the two electric push rods. The annular fixed block is rotatably installed on the annular connecting block. The support plate is fixedly installed at the bottom of the annular fixed block. The mounting block is fixedly installed at the top of the support plate. The vertical rod is fixedly installed at the bottom of the splicing plate and slidably installed on the mounting block. The electric motor is installed below the splicing plate. The two circular gears are respectively fixedly installed on the output shaft of the electric motor and on the mounting block, and the two circular gears mesh with each other.

[0010] Furthermore, the fixing assembly includes: a vacuum pump, a connecting pipe, an electric valve, a corrugated pipe, a connecting pipe, three branch pipes, six vacuum suction cups, a vent pipe, and an electric valve. The vacuum pump is fixedly installed on one side of the column. The connecting pipe is fixedly installed on the air inlet of the vacuum pump. The electric valve is fixedly installed on the connecting pipe. The corrugated pipe is fixedly installed on the end of the connecting pipe away from the vacuum pump. The connecting pipe is fixedly installed at the bottom of the support plate. One end of the connecting pipe is fixedly connected to the end of the corrugated pipe away from the connecting pipe. The end of the connecting pipe away from the corrugated pipe is sealed. The three branch pipes are all fixedly installed on one side of the connecting pipe. The ends of the three branch pipes away from the connecting pipe are sealed. The six vacuum suction cups are respectively fixedly installed at the bottom of the three branch pipes. The vent pipe is fixedly installed on one side of the connecting pipe. The electric valve is fixedly installed on the vent pipe.

[0011] Furthermore, the flipping assembly includes a rotating assembly, a swinging assembly, a flipping assembly, and a receiving assembly. The rotating assembly includes: an electric motor, a circular block, and a vertical plate. The electric motor is fixedly mounted on the top of the horizontal plate, the circular block is rotatably mounted on the horizontal plate, and the top of the circular block is fixedly connected to the output shaft of the electric motor. The vertical plate is fixedly mounted on the bottom of the circular block. The swinging assembly includes: a rotating plate, a fixed block, a linkage block, an electric push rod, a hinge rod, and a connecting block. The rotating plate is rotatably mounted on the bottom of the vertical plate, the fixed block is fixedly mounted on one side of the vertical plate, and the linkage block is rotatably mounted on... On the fixed block, the second electric push rod is fixedly installed on one side of the linkage block, the hinge rod is fixedly installed on the output rod of the second electric push rod, and the connecting block is fixedly installed on the top of the rotating plate. The connecting block is rotatably connected to the end of the hinge rod away from the second electric push rod. The flipping assembly includes: a transition groove, a connecting rod, a transition block, a mounting plate, two arc-shaped holes, an electric motor, a support frame, a connecting rod, and two circular gears. The transition groove is opened on one side of the rotating plate, the connecting rod is fixedly installed on the inner wall of one side of the transition groove, the transition block is rotatably sleeved on the connecting rod, and the mounting plate is fixedly installed on one side of the transition block. Both of the aforementioned arc-shaped holes are opened on one side of the mounting plate. The electric motor five is fixedly mounted on the top of the rotating plate. The support frame is fixedly mounted on the top of the rotating plate. The connecting rod is rotatably mounted on the support frame. One end of the connecting rod is fixedly connected to the output shaft of the electric motor five. The two circular gears four are respectively fixedly mounted on the connecting rod and the adapter block. The two circular gears four mesh with each other. The receiving assembly includes: a side branch pipe, an electric valve three, a bellows two, a connecting pipe two, two branch pipes two, four vacuum suction cups two, a vent pipe two, and an electric valve four. The side branch pipe is fixedly mounted on one side of the connecting pipe. The electric valve four... Three are fixedly installed on the side branch pipe. The second corrugated pipe is fixedly installed on the end of the side branch pipe away from the connecting pipe. The second connecting pipe is fixedly installed on the bottom of the mounting plate. One end of the second connecting pipe is fixedly connected to the end of the second corrugated pipe away from the side branch pipe. The end of the second connecting pipe away from the second corrugated pipe is sealed. Two second branch pipes are fixedly installed on one side of the second connecting pipe. The ends of two second branch pipes away from the second connecting pipe are sealed. Four second vacuum suction cups are fixedly installed on the top of two second branch pipes respectively. The second vent pipe is fixedly installed on one side of the second connecting pipe. The fourth electric valve is fixedly installed on the second vent pipe.

[0012] Furthermore, the column is provided with a receiving groove, the lifting adjustment plate is slidably installed in the receiving groove, a side groove is provided on one inner wall of the receiving groove, and the rack and the circular gear are both installed in the side groove.

[0013] Furthermore, two reinforcing plates are fixedly installed at the bottom of the splicing plate, and two U-shaped clamps are fixedly installed on one side of each of the two reinforcing plates. The four U-shaped clamps are respectively fixedly connected to the two electric push rods. A carrying plate is fixedly installed at the bottom of the splicing plate, and the carrying plate is fixedly connected to the base of the electric motor.

[0014] Furthermore, multiple U-shaped clamps are fixedly installed at the bottom of the bearing plate, and the multiple U-shaped clamps are respectively fixedly connected to the connecting pipe and the three branch pipes.

[0015] Furthermore, the mounting plate has four square holes, and the four vacuum suction cups are respectively installed in the four square holes. The adapter block has a circular groove, and the connecting rod is rotatably installed in the circular groove. An annular cavity is formed on the inner wall of the circular groove. An annular block is fixedly fitted on the connecting rod, and the annular block is rotatably installed in the annular cavity. The support frame has a square hole on the side away from the electric motor. Multiple U-shaped clamps are fixedly installed on the bottom of the mounting plate. The multiple U-shaped clamps are respectively fixedly connected to the connecting pipe and the two branch pipes. A reinforcing block is fixedly fitted on the circular block. Multiple rolling balls are embedded in the bottom of the reinforcing block, and the multiple rolling balls are in contact with the top of the horizontal plate.

[0016] Compared with related technologies, the glass reversing and sorting robot for workshop production lines provided by this invention has the following beneficial effects: This invention integrates multiple functions such as lifting, horizontal sorting, position reversing, automatic flipping, and negative pressure fixing into one unit, eliminating the traditional glass processing assembly line operation mode that requires multiple machines to work together and manual transfer and flipping. The lifting component enables precise vertical height adjustment of the glass, the sorting component completes horizontal cross-station transfer of the glass, the reversing component adjusts the plane posture of the glass, and the flipping component can automatically complete a 180° flipping operation. It provides a one-stop solution covering the entire process of glass picking, transfer, reversing, front and back processing switching, and sorting and unloading, without the need for manual intervention. This effectively simplifies the assembly line operation process, significantly improves the overall production efficiency of glass processing and sorting, and is suitable for the continuous production needs of automated assembly lines. The device features two independent negative pressure adsorption and fixing mechanisms sharing a vacuum pump. These correspond to vacuum suction cup assembly one at the reversing sorting station and vacuum suction cup assembly two at the flipping station, respectively. Multiple independent electric valves control the negative pressure on / off and pressure relief / exhaust. The two air circuit systems operate independently or alternately without interference. Six vacuum suction cups (assembly 1) and four vacuum suction cups (assembly 2) are arranged in an array, ensuring uniform adsorption force and a firm fit against the glass surface. This prevents slippage, detachment, or displacement of the glass during lifting, translation, rotation, and flipping, guaranteeing stable transport. Simultaneously, it can smoothly and seamlessly transfer the glass from the reversing station to the flipping station, precisely processing both sides of the glass sequentially, solving the problem of traditional equipment's inability to automatically adapt to double-sided processes. Attached Figure Description

[0017] Figure 1 A front view schematic diagram of the first embodiment of the glass reversing and sorting robot for a workshop assembly line provided by the present invention; Figure 2 A front sectional view of the first embodiment of the glass reversing and sorting robot for a workshop assembly line provided by the present invention; Figure 3 for Figure 2 A partially enlarged schematic diagram of the horizontal plate shown in the image; Figure 4 for Figure 3 An enlarged structural diagram of the splicing panel shown; Figure 5 for Figure 2 A partially enlarged schematic diagram of the column and lifting adjustment plate shown in the image; Figure 6 A rear view structural schematic diagram of the first embodiment of the glass reversing and sorting robot for a workshop assembly line provided by the present invention; Figure 7 A bottom view of the first embodiment of the glass reversing and sorting robot for a workshop assembly line provided by the present invention; Figure 8 for Figure 7 A partially enlarged schematic diagram of the horizontal plate shown in the image; Figure 9 A side sectional view of the transverse plate shown in the first embodiment of the glass reversing and sorting robot for the workshop assembly line provided by the present invention; Figure 10 for Figure 9 A partially enlarged schematic diagram of the vertical plate shown; Figure 11 A side sectional view of the horizontal and vertical plates shown in the first embodiment of the glass reversing and sorting robot for the workshop assembly line provided by the present invention; Figure 12 for Figure 11 An enlarged schematic diagram of the horizontal plate shown; Figure 13 for Figure 12 A partially enlarged schematic diagram of the rotating plate shown in the image; Figure 14 A bottom cross-sectional view of the horizontal plate shown in the first embodiment of the glass reversing and sorting robot for the workshop assembly line provided by the present invention. Figure 15 for Figure 14 A partially enlarged schematic diagram of the horizontal plate shown.

[0018] The diagram is labeled as follows: 1. Column; 2. Lifting plate; 3. Rack 1; 4. Rectangular plate; 5. Electric motor 1; 6. Linkage rod; 7. Circular gear 1; 8. Horizontal plate; 9. Connecting rod; 10. Mounting bracket; 11. Rack 2; 12. Sliding hole; 13. U-shaped frame; 14. Electric motor 2; 15. Driven rod; 16. Circular gear 2; 17. Butt joint plate; 18. Splicing plate; 19. Electric push rod 1; 20. Annular connecting block; 21. Annular fixed block; 22. Bearing plate; 23. Set block; 24. Vertical rod; 25. Electric motor 3; 26. Circular gear 3; 27. Vacuum pump; 28. Connecting pipe; 29. ​​Electric valve 1; 30. Corrugated pipe 1; 31. Connecting pipe 1; 32. Branch pipe 1; 33. Vacuum suction cup 1; 34. Vent pipe 1; 35. Electric valve 2; 36. Electric motor 4; 37. Circular block; 38. Vertical plate; 39. Rotating plate; 40. Fixed block; 41. Linkage block; 42. Electric push rod 2; 43. Hinge rod; 44. Connecting block; 45. Adapter groove; 46. Connecting rod; 47. Adapter block; 48. Mounting plate; 49. Arc-shaped hole; 50. Electric motor 5; 51. Support frame; 52. Connecting rod; 53. Circular gear 4; 54. Side branch pipe; 55. Electric valve 3; 56. Corrugated pipe 2; 57. Connecting pipe 2; 58. Branch pipe 2; 59. Vacuum suction cup 2; 60. Vent pipe 2; 61. Electric valve 4. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] Please refer to the following: Figures 1-15 The glass reversing and sorting robot in the workshop assembly line includes: a column 1 and a linkage block 41. The column 1 is equipped with a lifting component, and the linkage block 41 lifting component is used to pick up and transfer the glass. The linkage block 41 lifting component is equipped with a sorting component, a reversing component, and a fixing component. The linkage block 41 sorting component is used to pick up and transfer the glass, the linkage block 41 reversing component is used to adjust the orientation and position of the glass, the linkage block 41 fixing component is used to adsorb the glass and keep it stable during movement, and the linkage block 41 lifting component is equipped with a flipping component, which is used to automatically flip the glass so that both sides of the glass can be processed sequentially.

[0021] To adjust the height of the glass and transfer it, the lifting assembly of the linkage block 41 includes: a lifting adjustment plate 2, a rack 3, two rectangular plates 4, an electric motor 5, a linkage rod 6, and a circular gear 7. The lifting adjustment plate 2 of the linkage block 41 is slidably mounted on the column 1. The rack 3 of the linkage block 41 is fixedly mounted on one side of the lifting adjustment plate 2. The two rectangular plates 4 of the linkage block 41 are both fixedly mounted on one side of the column 1. The electric motor 5 of the linkage block 41 is fixedly mounted on one side of the corresponding rectangular plate 4 of the linkage block 41. The linkage rod 6 of the linkage block 41 is rotatably mounted between the two rectangular plates 41 of the linkage block 41. The output shaft of the electric motor 5 of the linkage block 41 is fixedly connected to one end of the linkage rod 6. The circular gear 7 of the linkage block 41 is fixedly sleeved on the linkage rod 6 and meshes with the rack 3.

[0022] To drive the horizontal movement of the glass and achieve glass sorting, the sorting assembly of the linkage block 41 in this method includes: a horizontal plate 8, four connecting rods 9, a mounting frame 10, a rack 11, a sliding hole 12, a U-shaped frame 13, an electric motor 14, a driven rod 15, a circular gear 16, and a docking plate 17. The horizontal plate 8 of the linkage block 41 is fixedly installed on one side of the lifting adjustment plate 2. The four connecting rods 9 of the linkage block 41 are arranged in a rectangular array and fixedly installed at the bottom of the horizontal plate 8. The mounting frame 10 of the linkage block 41 is fixedly installed at the bottom of the four connecting rods 9. The rack 11 of the linkage block 41 is fixedly installed on the bottom inner wall of the mounting frame 10. The sliding hole 12 of the moving block 41 is opened on the mounting frame 10. The linkage block 41 U-shaped frame 13 is slidably sleeved on the mounting frame 10. The electric motor 14 of the linkage block 41 is fixedly installed on one side of the U-shaped frame 13. The driven rod 15 of the linkage block 41 is rotatably installed on the U-shaped frame 13. One end of the driven rod 15 of the linkage block 41 is fixedly connected to the output shaft of the electric motor 14. The circular gear 16 of the linkage block 41 is fixedly sleeved on the driven rod 15. The circular gear 16 of the linkage block 41 meshes with the rack 11. The mating plate 17 of the linkage block 41 is fixedly installed between the inner walls of both sides of the U-shaped frame 13. The mating plate 17 of the linkage block 41 is slidably installed in the sliding hole 12.

[0023] To adjust the orientation and placement of the glass, the reversing assembly of the linkage block 41 in this method includes: a splicing plate 18, two electric push rods 19, an annular connecting block 20, an annular fixed block 21, a bearing plate 22, a mounting block 23, a vertical rod 24, an electric motor 25, and two circular gears 26. The splicing plate 18 of the linkage block 41 is fixedly installed at the bottom of the U-shaped frame 13. The two electric push rods 19 of the linkage block 41 are both fixedly installed at the bottom of the splicing plate 18. The annular connecting block 20 of the linkage block 41 is fixedly installed on the output rod of the two electric push rods 19 of the linkage block 41. The cross-section of the annular connecting block 20 of the linkage block 41 is T-shaped. The annular fixed block 26 of the linkage block 41... 1. The linkage block 41 is rotatably mounted on the annular connecting block 20. The bearing plate 22 of the linkage block 41 is fixedly mounted on the bottom of the annular fixed block 21. The mounting block 23 of the linkage block 41 is fixedly mounted on the top of the bearing plate 22. The vertical rod 24 of the linkage block 41 is fixedly mounted on the bottom of the splicing plate 18. The top of the mounting block 23 of the linkage block 41 has an insertion groove. The vertical rod 24 of the linkage block 41 is slidably mounted on the mounting block 23 through the insertion groove. The electric motor 3 25 of the linkage block 41 is mounted below the splicing plate 18. The two circular gears 3 26 of the linkage block 41 are fixedly mounted on the output shaft of the electric motor 3 25 and the mounting block 23 respectively. The two circular gears 3 26 of the linkage block 41 mesh with each other.

[0024] To secure the glass and facilitate its transfer, the linkage block 41 fixing assembly includes: a vacuum pump 27, a connecting pipe 28, an electric valve 29, a corrugated pipe 30, a connecting pipe 31, three branch pipes 32, six vacuum suction cups 33, a vent pipe 34, and an electric valve 35. The vacuum pump 27 is fixedly installed on one side of the column 1. The connecting pipe 28 is fixedly installed on the air inlet of the vacuum pump 27. The electric valve 29 is fixedly installed on the connecting pipe 28. The corrugated pipe 30 is fixedly installed on the end of the connecting pipe 28 away from the vacuum pump 27. The connecting pipe 31 is fixedly installed on the bearing... At the bottom of plate 22, one end of the connecting pipe 31 of linkage block 41 is fixedly connected to the end of the corrugated pipe 30 away from the connecting pipe 28. The end of the connecting pipe 31 of linkage block 41 away from the corrugated pipe 30 is sealed. The three branch pipes 32 of linkage block 41 are equidistantly linearly distributed and fixedly installed on one side of the connecting pipe 31. The ends of the three branch pipes 32 of linkage block 41 away from the connecting pipe 31 are sealed. The six vacuum suction cups 33 of linkage block 41 are arranged in a rectangular array and fixedly installed at the bottom of the three branch pipes 32 of linkage block 41. The vent pipe 34 of linkage block 41 is fixedly installed on one side of the connecting pipe 31. The electric valve 35 of linkage block 41 is fixedly installed on the vent pipe 34.

[0025] To facilitate the separate processing of both sides of the glass during flipping, the flipping assembly of linkage block 41 includes a rotating assembly, a swinging assembly, a flipping assembly, and a receiving assembly. The rotating assembly of linkage block 41 includes an electric motor 36, a circular block 37, and a vertical plate 38. The electric motor 36 is fixedly mounted on the top of the horizontal plate 8. The circular block 37 is rotatably mounted on the horizontal plate 8, with its top fixedly connected to the output shaft of the electric motor 36. The vertical plate 38 is fixedly mounted on the bottom of the circular block 37. The swinging assembly of linkage block 41 includes a rotating plate 39, a fixed block 40, a linkage block 41, an electric push rod 42, a hinge rod 43, and a connecting block 44. The linkage block 41 rotates... Plate 39 is rotatably mounted on the bottom of vertical plate 38. Linkage block 41 and fixing block 40 are fixedly mounted on one side of vertical plate 38. Linkage block 41 is rotatably mounted on fixing block 40. Electric push rod 42 of linkage block 41 is fixedly mounted on one side of linkage block 41. Hinge rod 43 of linkage block 41 is fixedly mounted on the output rod of electric push rod 42. Connecting block 44 of linkage block 41 is fixedly mounted on the top of rotating plate 39. Connecting block 44 is rotatably connected to the end of hinge rod 43 away from electric push rod 42. The flipping assembly of linkage block 41 includes: adapter groove 45, connecting rod 46, adapter block 47, mounting plate 48, two arc-shaped holes 49, electric motor 50, support frame 51, connecting rod 52, and two circular gears 50. 3. The linkage block 41 has an adapter groove 45 on the side of the rotating plate 39 away from the vertical plate 38. The connecting rod 46 is fixedly installed on the inner wall of one side of the adapter groove 45. The linkage block 41 adapter block 47 is rotatably sleeved on the connecting rod 46. The linkage block 41 mounting plate 48 is fixedly installed on one side of the adapter block 47. Both sides of the mounting plate 48 have oblique grooves. The two oblique grooves provide room for the rotation of the mounting plate 48 to avoid the rotation of the mounting plate 48 affecting the rotating plate 39. The two linkage block 41 arc-shaped holes 49 are both opened on one side of the mounting plate 48. The linkage block 41 electric motor 50 is fixedly installed on the top of the rotating plate 39. The linkage block 41 support frame 51 is fixedly installed on the top of the rotating plate 39. The linkage block 41 connecting rod 52 rotates... The linkage block 41 is mounted on the support frame 51. One end of the connecting rod 52 is fixedly connected to the output shaft of the electric motor 50. Two circular gears 53 of the linkage block 41 are fixedly mounted on the connecting rod 52 and the adapter block 47 respectively. The two circular gears 53 of the linkage block 41 mesh with each other. The linkage block 41 supports the following components: side branch pipe 54, electric valve 55, bellows 56, connecting pipe 57, two branch pipes 58, four vacuum suction cups 59, vent pipe 60, and electric valve 61. The side branch pipe 54 of the linkage block 41 is fixedly mounted on one side of the connecting pipe 28. The electric valve 55 of the linkage block 41 is fixedly mounted on the side branch pipe 54. The bellows 56 of the linkage block 41 is fixedly mounted on the end of the side branch pipe 54 away from the connecting pipe 28.Linkage block 41 connecting pipe 2 57 is fixedly installed at the bottom of mounting plate 48. One end of linkage block 41 connecting pipe 2 57 is fixedly connected to the end of corrugated pipe 2 56 away from side branch pipe 54. The end of linkage block 41 connecting pipe 2 57 away from corrugated pipe 2 56 is sealed. Two linkage blocks 41 branch pipes 2 58 are fixedly installed on one side of connecting pipe 2 57. The ends of two linkage blocks 41 branch pipes 2 58 away from connecting pipe 2 57 are sealed. Four linkage blocks 41 vacuum suction cups 2 59 are arranged in a rectangular array and fixedly installed on the top of two linkage blocks 41 branch pipes 2 58. Linkage block 41 vent pipe 2 60 is fixedly installed on one side of connecting pipe 2 57. Linkage block 41 electric valve 4 61 is fixedly installed on vent pipe 2 60.

[0026] In order to reserve space for the installation and movement of rack 3 and circular gear 7, in this method, the column 1 of linkage block 41 is provided with a receiving groove, the lifting adjustment plate 2 of linkage block 41 is slidably installed in the receiving groove, and a side groove is provided on one side inner wall of the receiving groove of linkage block 41. Both rack 3 and circular gear 7 of linkage block 41 are installed in the side groove.

[0027] To ensure the stability of the installation of the two electric push rods 19 and the electric motor 25, in this method, two reinforcing plates are fixedly installed on the bottom of the linkage block 41 splicing plate 18, and two U-shaped clamps are fixedly installed on one side of each of the two linkage block 41 reinforcing plates. The four linkage block 41 U-shaped clamps are fixedly connected to the two linkage block 41 electric push rods 19 respectively. A load plate is fixedly installed on the bottom of the linkage block 41 splicing plate 18, and the load plate of the linkage block 41 is fixedly connected to the base of the electric motor 25.

[0028] To increase the stability of the installation of the connecting pipe 31 and the three branch pipes 32, in this method, multiple U-shaped clamps are fixedly installed at the bottom of the bearing plate 22 of the linkage block 41, and the multiple U-shaped clamps of the linkage block 41 are fixedly connected to the connecting pipe 31 and the three branch pipes 32 of the linkage block 41 respectively.

[0029] To provide space for the installation of the four vacuum suction cups 59, prevent the mounting plate 48 from detaching from the connecting rod 46, increase the stability of the connecting pipe 57 and the two branch pipes 58, and simultaneously increase the stability of the circular block 37 installation to prevent it from detaching from the transverse plate 8, in this configuration, the mounting plate 48 of the linkage block 41 has four square holes. The four vacuum suction cups 59 of the linkage block 41 are respectively installed in the four square holes of the linkage block 41. The adapter block 47 of the linkage block 41 has a circular groove, and the connecting rod 46 of the linkage block 41 is rotatably installed in the circular groove. The inner wall of the circular groove of the linkage block 41 is... An annular cavity is provided, and an annular block is fixedly sleeved on the connecting rod 46 of the linkage block 41. The annular block of the linkage block 41 is rotatably installed in the annular cavity. A square hole is opened on the side of the support frame 51 of the linkage block 41 away from the electric motor 50. Multiple U-shaped clamps are fixedly installed on the bottom of the mounting plate 48 of the linkage block 41. The multiple U-shaped clamps of the linkage block 41 are fixedly connected to the connecting pipe 2 57 and the two branch pipes 2 58 of the linkage block 41 respectively. A reinforcing block is fixedly sleeved on the circular block 37 of the linkage block 41. Multiple rolling balls are embedded in the bottom of the reinforcing block of the linkage block 41. The multiple rolling balls of the linkage block 41 are in contact with the top of the transverse plate 8.

[0030] The working principle of the glass reversing and sorting robot for the workshop assembly line provided by this invention is as follows: In this device, the electric motor 5 is started, which drives the linkage rod 6 and the circular gear 7 to rotate. Through the meshing transmission of the circular gear 7 and the rack 3, the lifting plate 2 is driven to slide vertically along the receiving groove of the column 1. This controls the overall lifting of the sorting mechanism, the reversing mechanism, and the flipping mechanism, and adjusts the vertical distance between the gripping mechanism and the glass workpiece, thus completing the glass picking and unloading height adjustment.

[0031] Electric motor 14 drives circular gear 16 to rotate. Relying on the meshing of circular gear 16 with rack 11 inside mounting frame 10, the U-shaped frame 13 is driven to slide horizontally along mounting frame 10, so that the reversing component below, together with the six vacuum suction cups 33, can move horizontally, and complete the horizontal transfer, sorting and conveying of glass between different workstations on the production line.

[0032] The electric motor 5 is started to drive the support plate 22 downwards and closer to the glass; then the vacuum pump 27 is started, the electric valve 29 is opened, and all other electric valves are closed, creating negative pressure in the airflow pipeline. The six vacuum suction cups 33 then come into contact with the glass and firmly suction it. Subsequently, the electric motor 25 drives the mounting block 23 and the annular fixed block 21 to rotate on the vertical rod 24 and the annular connecting block 20 through the meshing of two circular gears 26, which in turn drives the support plate 22 to rotate. This causes the glass adsorbed below the support plate 22 to rotate and adjust its angle, precisely changing the orientation and planar position of the glass to meet the positioning requirements of the next process. After the reversal is completed, the electric valve 35 can be opened to release pressure, completely expelling the air from the connecting pipe 31 and the three branch pipes 32, thus releasing the glass.

[0033] Electric motor 46 drives the circular block 37 to rotate, causing the vertical plate 38 to rotate as a whole, adjusting the horizontal orientation of the flipping mechanism, and rotating the rotating plate 39 directly below the horizontal plate 8; electric push rod 22 pushes the rotating plate 39 to swing through the hinge rod 43, realizing the pitch angle adjustment of the flipping mechanism. The rotation of the rotating plate 39 can move the glass away from the support plate 22, leaving operating space for the glass to flip; the two electric push rods 19 are activated, and the output rods of the two electric push rods 19 extend outward, driving the support plate 22 and the glass being attracted to move downward, with the mounting plate 48 placed directly below the support plate 22; then the electric valve 25 is opened to release pressure, releasing the glass and transferring the glass to the four vacuum valves on the mounting plate 48. The glass is placed on suction cup 259. Then, vacuum pump 27 is restarted. The branch of vacuum pump 27 opens electric valve 355, and all other electric valves are closed, so that the four vacuum suction cups 259 generate negative pressure to hold the glass. Electric motor 50 drives the adapter block 47 and mounting plate 48 to rotate through two circular gears 453. The rotating plate 39 swings in coordination with the rotation of the mounting plate 48, which drives the glass to complete a 180° flip. After the flip is completed, electric valve 461 is opened and the other electric valves are closed. The gas in connecting pipe 257 and the two branch pipes 258 is depressurized through vent pipe 260. The glass is then lowered and can be transferred to the six vacuum suction cups 133 again for subsequent processing of the other side of the glass.

[0034] The above linkage block 41 is only an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A glass reversing and sorting robot for a workshop assembly line, comprising a column, characterized in that, The column is equipped with a lifting assembly for picking up and transferring glass. The lifting assembly is also equipped with a sorting assembly, a reversing assembly, and a fixing assembly. The sorting assembly is used to pick up and transfer glass, the reversing assembly is used to adjust the orientation and position of the glass, and the fixing assembly is used to hold the glass in place to keep it stable during movement. The lifting assembly is also equipped with a flipping assembly for automatically flipping the glass so that both sides can be processed sequentially.

2. The glass reversing and sorting robot for a workshop assembly line according to claim 1, characterized in that, The lifting assembly includes: a lifting plate, a rack, two rectangular plates, an electric motor, a linkage rod, and a circular gear. The lifting plate is slidably mounted on the column. The rack is fixedly mounted on one side of the lifting plate. Both rectangular plates are fixedly mounted on one side of the column. The electric motor is fixedly mounted on one side of the corresponding rectangular plate. The linkage rod is rotatably mounted between the two rectangular plates. The output shaft of the electric motor is fixedly connected to one end of the linkage rod. The circular gear is fixedly sleeved on the linkage rod and meshes with the rack.

3. The glass reversing and sorting robot for a workshop assembly line according to claim 2, characterized in that, The sorting assembly includes: a horizontal plate, four connecting rods, a mounting frame, a rack, a sliding hole, a U-shaped frame, an electric motor, a driven rod, a circular gear, and a docking plate. The horizontal plate is fixedly installed on one side of the lifting plate. The four connecting rods are all fixedly installed at the bottom of the horizontal plate. The mounting frame is fixedly installed at the bottom of the four connecting rods. The rack is fixedly installed on the bottom inner wall of the mounting frame. The sliding hole is opened on the mounting frame. The U-shaped frame is slidably fitted on the mounting frame. The electric motor is fixedly installed on one side of the U-shaped frame. The driven rod is rotatably installed on the U-shaped frame, and one end of the driven rod is fixedly connected to the output shaft of the electric motor. The circular gear is fixedly fitted on the driven rod and meshes with the rack. The docking plate is fixedly installed between the two inner walls of the U-shaped frame and is slidably installed in the sliding hole.

4. The glass reversing and sorting robot for a workshop assembly line according to claim 3, characterized in that, The reversing assembly includes: a splicing plate, two electric push rods, an annular connecting block, an annular fixed block, a support plate, a mounting block, a vertical rod, an electric motor, and two circular gears. The splicing plate is fixedly installed at the bottom of the U-shaped frame. Both electric push rods are fixedly installed at the bottom of the splicing plate. The annular connecting block is fixedly installed on the output rods of the two electric push rods. The annular fixed block is rotatably installed on the annular connecting block. The support plate is fixedly installed at the bottom of the annular fixed block. The mounting block is fixedly installed at the top of the support plate. The vertical rod is fixedly installed at the bottom of the splicing plate and slidably installed on the mounting block. The electric motor is installed below the splicing plate. The two circular gears are respectively fixedly installed on the output shaft of the electric motor and on the mounting block, and the two circular gears mesh with each other.

5. The glass reversing and sorting robot for a workshop assembly line according to claim 4, characterized in that, The fixing assembly includes: a vacuum pump, a connecting pipe, an electric valve, a corrugated pipe, a connecting pipe, three branch pipes, six vacuum suction cups, a vent pipe, and an electric valve. The vacuum pump is fixedly installed on one side of the column. The connecting pipe is fixedly installed on the air inlet of the vacuum pump. The electric valve is fixedly installed on the connecting pipe. The corrugated pipe is fixedly installed on the end of the connecting pipe away from the vacuum pump. The connecting pipe is fixedly installed at the bottom of the support plate. One end of the connecting pipe is fixedly connected to the end of the corrugated pipe away from the connecting pipe. The end of the connecting pipe away from the corrugated pipe is sealed. The three branch pipes are all fixedly installed on one side of the connecting pipe. The ends of the three branch pipes away from the connecting pipe are sealed. The six vacuum suction cups are respectively fixedly installed at the bottom of the three branch pipes. The vent pipe is fixedly installed on one side of the connecting pipe. The electric valve is fixedly installed on the vent pipe.

6. The glass reversing and sorting robot for a workshop assembly line according to claim 5, characterized in that, The flipping assembly includes a rotating assembly, a swinging assembly, a flipping assembly, and a receiving assembly. The rotating assembly includes: an electric motor, a circular block, and a vertical plate. The electric motor is fixedly mounted on the top of the horizontal plate, and the circular block is rotatably mounted on the horizontal plate. The top of the circular block is fixedly connected to the output shaft of the electric motor. The vertical plate is fixedly mounted on the bottom of the circular block. The swinging assembly includes: a rotating plate, a fixed block, a linkage block, an electric push rod, a hinge rod, and a connecting block. The rotating plate is rotatably mounted on the bottom of the vertical plate, the fixed block is fixedly mounted on one side of the vertical plate, and the linkage block is rotatably mounted on the fixed plate. On the block, the electric push rod two is fixedly installed on one side of the linkage block, the hinge rod is fixedly installed on the output rod of the electric push rod two, and the connecting block is fixedly installed on the top of the rotating plate. The connecting block is rotatably connected to the end of the hinge rod away from the electric push rod two. The flipping assembly includes: a transition groove, a connecting rod, a transition block, a mounting plate, two arc-shaped holes, an electric motor five, a support frame, a connecting rod, and two circular gears four. The transition groove is opened on one side of the rotating plate, the connecting rod is fixedly installed on the inner wall of one side of the transition groove, the transition block is rotatably sleeved on the connecting rod, and the mounting plate is fixedly installed on one side of the transition block. All the arc-shaped holes are opened on one side of the mounting plate. The electric motor five is fixedly installed on the top of the rotating plate. The support frame is fixedly installed on the top of the rotating plate. The connecting rod is rotatably installed on the support frame. One end of the connecting rod is fixedly connected to the output shaft of the electric motor five. The two circular gears four are respectively fixedly installed on the connecting rod and the adapter block. The two circular gears four mesh with each other. The receiving assembly includes: a side branch pipe, an electric valve three, a bellows two, a connecting pipe two, two branch pipes two, four vacuum suction cups two, a vent pipe two, and an electric valve four. The side branch pipe is fixedly installed on one side of the connecting pipe. The electric valve three... The corrugated pipe 2 is fixedly installed on the side branch pipe, and the connecting pipe 2 is fixedly installed on the end of the side branch pipe away from the connecting pipe. The connecting pipe 2 is fixedly installed on the bottom of the mounting plate, and one end of the connecting pipe 2 is fixedly connected to the end of the corrugated pipe 2 away from the side branch pipe. The end of the connecting pipe 2 away from the corrugated pipe 2 is sealed. The two branch pipes 2 are fixedly installed on one side of the connecting pipe 2, and the ends of the two branch pipes 2 away from the connecting pipe 2 are sealed. The four vacuum suction cups 2 are respectively fixedly installed on the top of the two branch pipes 2. The vent pipe 2 is fixedly installed on one side of the connecting pipe 2. The electric valve 4 is fixedly installed on the vent pipe 2.

7. The glass reversing and sorting robot for a workshop assembly line according to claim 2, characterized in that, The column is provided with a receiving groove, the lifting plate is slidably installed in the receiving groove, and a side groove is provided on one inner wall of the receiving groove. Both the rack and the circular gear are installed in the side groove.

8. The glass reversing and sorting robot for a workshop assembly line according to claim 4, characterized in that, Two reinforcing plates are fixedly installed at the bottom of the splicing plate. Two U-shaped clamps are fixedly installed on one side of each of the two reinforcing plates. The four U-shaped clamps are fixedly connected to the two electric push rods respectively. A carrying plate is fixedly installed at the bottom of the splicing plate. The carrying plate is fixedly connected to the base of the electric motor.

9. The glass reversing and sorting robot for a workshop assembly line according to claim 5, characterized in that, Multiple U-shaped clamps are fixedly installed at the bottom of the bearing plate, and the multiple U-shaped clamps are fixedly connected to the connecting pipe and the three branch pipes respectively.

10. The glass reversing and sorting robot for a workshop assembly line according to claim 6, characterized in that, The mounting plate has four square holes, and the four vacuum suction cups are respectively installed in the four square holes. The adapter block has a circular groove, and the connecting rod is rotatably installed in the circular groove. The inner wall of the circular groove has an annular cavity. An annular block is fixedly fitted on the connecting rod, and the annular block is rotatably installed in the annular cavity. The support frame has a square hole on the side away from the electric motor. Multiple U-shaped clamps are fixedly installed on the bottom of the mounting plate. The multiple U-shaped clamps are respectively fixedly connected to the connecting pipe and the two branch pipes. A reinforcing block is fixedly fitted on the circular block. Multiple rolling balls are embedded in the bottom of the reinforcing block, and the multiple rolling balls are in contact with the top of the horizontal plate.

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