Automatic basket inserting system for hot bending glass

Abstract

The utility model discloses an automatic basket inserting system for hot bending glass. The automatic basket inserting system comprises a glass conveying line and a cleaning basket, the six-axis mechanical arm is used for moving and inserting a glass plate on the glass conveying line into the cleaning basket, the six-axis mechanical arm comprises a mechanical arm tail end, a glass clamp used for longitudinally clamping the glass plate is installed at the mechanical arm tail end, the cleaning basket comprises a basket frame, two lower supporting rods are arranged in the basket frame and are transversely distributed, and the two lower supporting rods are arranged in the basket frame. Two side leaning rods are arranged in the basket, side positioning ring grooves are formed in the side leaning rods, the two transverse ends of the glass plate are correspondingly and tangentially inserted into the side positioning ring grooves, and the side positioning ring grooves are formed in the longitudinal direction at intervals. The glass clamp can pass through the space between the two lower supporting rods. The automatic basket inserting system for the hot bending glass is beneficial to improving the working efficiency and reducing the labor intensity.

Description

Technical Field

[0001] The utility model relates to the field of auxiliary equipment for a hot-bending glass plate production line, in particular to an automatic basket insertion system for hot-bending glass. Background Art

[0002] At present, after a straight glass plate is converted into an arc-shaped glass plate through a hot bending process, the arc-shaped glass plate is transported to a corresponding position of an ultrasonic cleaning device through a glass conveyor line. The ultrasonic cleaning device is provided with a rotary conveyor line, on which a cleaning basket is placed. Currently, the arc-shaped glass plate on the glass conveyor line is inserted into the cleaning basket manually. When the cleaning basket is full of arc-shaped glass plates, the rotary conveyor line transfers the cleaning basket and the arc-shaped glass plate to the cleaning station of the ultrasonic cleaning device. However, due to the heavy weight of the arc-shaped glass plate, the labor intensity of workers in taking and placing the arc-shaped glass plate is very high. It often happens that the arc-shaped glass plate slips out of the hands and falls to the ground or is damaged due to physical problems of the workers. In addition, the work efficiency is low, which has become a key constraint on improving the efficiency of the hot-bent glass plate production line. Therefore, it is necessary to make a basket insertion system that can effectively improve work efficiency and reduce labor intensity. Summary of the invention

[0003] The utility model aims to overcome the deficiencies of the prior art and provide an automatic basket insertion system for hot-bent glass, which can effectively improve work efficiency and reduce labor intensity.

[0004] The purpose of the utility model is achieved through the following technical solutions.

[0005] The automatic basket insertion system for hot-bent glass disclosed by the utility model comprises a glass conveying line and a cleaning basket; wherein, it also comprises a six-axis robot arm for moving and inserting the glass plate on the glass conveying line into the cleaning basket, the six-axis robot arm comprises a robot arm end, and a glass clamp for longitudinally clamping the glass plate is installed at the robot arm end, the cleaning basket comprises a basket frame, two lower support rods are arranged in the basket frame, the two lower support rods are arranged in a transverse distribution, lower positioning ring grooves for radial insertion of the lower end of the glass plate are formed on the lower support rods, the lower positioning ring grooves are arranged at intervals along the longitudinal direction, two side support rods are arranged in the basket frame, side positioning ring grooves for tangential insertion of the corresponding transverse ends of the glass plate are formed on the side support rods, the side positioning ring grooves are arranged at intervals along the longitudinal direction, and the glass clamp can pass between the two lower support rods.

[0006] Preferably, the glass conveyor line includes a material bracket for placing glass plates and a proximity switch for detecting the arrival of the material bracket, the glass conveyor line includes a conveying chain, and the material bracket is arranged at intervals on the conveying chain; it also includes a lifting mechanism for lifting the glass plate on the material bracket, the lifting mechanism includes a lifting cylinder and a lifting rod for contacting the bottom surface of the glass plate, the lifting cylinder drives the lifting rod to move up and down, and the lifting mechanism is provided with a photoelectric sensor for detecting the bottom surface of the glass plate.

[0007] Preferably, the lifting rod comprises a rod body and a nylon rod head for contacting the glass plate, and the lower end of the nylon rod head is fixedly connected to the upper end of the rod body.

[0008] Preferably, the material support comprises four supporting claws, and the supporting claws are provided with longitudinal positioning steps for contacting and supporting the edge of the glass plate, and the longitudinal positioning steps are arranged in at least two levels.

[0009] Preferably, the glass clamp includes a clamping jaw, a clamping cylinder and a clamp support plate, the clamping jaw includes a fixed clamping finger and a movable clamping finger, one end of the clamp support plate is installed and connected to the end of the robotic arm, the fixed clamping finger is installed at the other end corresponding to the clamp support plate, the cylinder body of the clamping cylinder is installed on one side of the clamp support plate, and the movable clamping finger is installed on the piston rod of the clamping cylinder.

[0010] Compared with the prior art, the utility model has the following beneficial effects: a six-axis robot arm is provided for moving and inserting the glass plate on the glass conveyor line into the cleaning basket, a glass clamp for longitudinally clamping the glass plate is installed at the end of the robot arm, two lower support rods are provided in the basket frame, the two lower support rods are arranged in a transverse distribution, lower positioning ring grooves for radially inserting the lower end of the glass plate are formed on the lower support rods, the lower positioning ring grooves are arranged at intervals along the longitudinal direction, two side support rods are provided in the basket frame, side positioning ring grooves for tangentially inserting the corresponding transverse ends of the glass plate are formed on the side support rods, the side positioning ring grooves are arranged at intervals along the longitudinal direction, the glass clamp can pass between the two lower support rods, and the six-axis robot arm is used to replace human hands to perform the glass plate basket insertion operation in a more stable rhythm and at a faster speed, which is beneficial to improving work efficiency and reducing labor intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a three-dimensional structural schematic diagram of the hot-bending glass inserting basket system of the utility model.

[0012] Figure 2 It is a front view structural schematic diagram of the hot-bending glass inserting basket system of the utility model.

[0013] Figure 3 It is a three-dimensional structural schematic diagram of the jacking mechanism of the utility model.

[0014] Figure 4 It is a right side structural schematic diagram of the jacking mechanism and glass conveying line combination of the utility model.

[0015] Figure 5 It is a three-dimensional structural schematic diagram of the material bracket of the utility model.

[0016] Figure 6 This is a schematic diagram of the glass clamp of the utility model inserting a glass plate into a cleaning basket.

[0017] Figure 7 It is a three-dimensional structural schematic diagram of the glass clamp of the utility model.

[0018] Figure 8 It is a three-dimensional structural schematic diagram of the cleaning basket and glass plate combination of the utility model.

[0019] Fig. 9 It is a three-dimensional structural schematic diagram of the lifting rod of the utility model.

[0020] Explanation of reference numerals: glass conveyor line 1; conveyor chain 11; material bracket 12; supporting claw 121; longitudinal positioning step 1211; conveying motor 13; conveying frame 14; in-position proximity switch 15; lifting mechanism 2; lifting rod 21; rod body 210; nylon rod head 211; lifting cylinder 22; lifting frame 23; photoelectric sensor 24; six-axis robot arm 3; robot arm end 301; glass clamp 4; clamping claw 41; fixed clamping finger 411; movable clamping finger 412; clamping cylinder 42; clamp support plate 43; cleaning basket 5; basket frame 51; lower support rod 52; lower positioning ring groove 521; side leaning rod 53; side positioning ring groove 531; robot arm bracket 6; cleaning basket conveyor line 7; glass plate 99. DETAILED DESCRIPTION

[0021] The utility model is further described below in conjunction with the accompanying drawings.

[0022] The utility model of the automatic basket insertion system for hot-bending glass is as follows: Figure 1 and Figure 2 As shown, the glass conveyor line 1 includes a glass conveyor line 1 and a cleaning basket 5. The glass conveyor line 1 is used to convey glass plates 99 (in Figure 2The automatic basket insertion system for hot-bent glass of the utility model also includes a six-axis robot arm 3 for moving and inserting the glass plate 99 on the glass conveyor line 1 into the cleaning basket 5. The six-axis robot arm 3 can be installed on the robot arm bracket 6. The six-axis robot arm 3 belongs to the prior art. For example, reference can be made to the "six-axis robot arm screw locking machine" with the Chinese utility model patent publication number CN212946444U and the "six-axis robot arm for assembling a reducer" with the Chinese utility model patent publication number CN213351472U. The six-axis robot arm 3 includes a robot arm end 301, and the robot arm end 301 is equipped with a glass clamp 4 for longitudinally clamping the glass plate 99. That is to say, when the glass clamp 4 clamps the glass plate 99 on the glass conveyor line 1, the glass clamp 4 specifically clamps the left and right ends of the glass plate 99 in a contact manner (at Figure 2 In the visual direction), the end 301 of the robotic arm can be a rotation axis, that is, the end 301 of the robotic arm can drive the glass clamp 4 to rotate.

[0023] like Figure 8 As shown, the cleaning basket 5 includes a basket frame 51, which is a frame structure, so the basket frame 51 is an open structure, and two lower support rods 52 are arranged in the basket frame 51, and the two ends of the lower support rods 52 are respectively fixedly connected to the basket frame 51 (welded or connected by fasteners), and the two lower support rods 52 are arranged in a transverse distribution (in Figure 2 The lower support rod 52 is provided with a lower positioning annular groove 521 for radially inserting the lower end of the glass plate 99, and the lower positioning annular groove 521 is arranged at intervals in the longitudinal direction. Two side leaning rods 53 are arranged in the basket frame 51, and the side leaning rod 53 is formed with side positioning annular grooves 531 for tangentially inserting the lateral ends (i.e., the front and rear ends) of the glass plate 99, and the side positioning annular grooves 531 are arranged at intervals in the longitudinal direction. Specifically, the left and right ends of the basket frame 51 are respectively provided with cross beams, and the cross beams are formed with long holes extending in the front and rear directions. Screws are passed through the above-mentioned long holes and are screwed to the ends of the side leaning rods 53, so that the side leaning rods 53 can be adjusted front and back to adapt to glass plates 99 of different specifications; the glass clamp 4 can pass between the two lower support rods 52.

[0024] The following briefly describes the working principle of the automatic basket insertion system for hot-bending glass of the utility model: Figure 1 and Figure 2 As shown, the glass conveyor line 1 conveys the glass plate 99 that has been bent into an arc shape by the existing hot bending process to the right (the glass plate 99 is in a flat state, and the four corners of the glass plate 99 are tilted upward). When the glass plate 99 is conveyed to the right end (end) of the glass conveyor line 1, the six-axis robot arm 3 moves the glass clamp 4 to the position of the glass plate 99, and the glass clamp 4 clamps the glass plate 99 relatively fixedly. The six-axis robot arm 3 then executes a program to move the glass clamp 4 to the top of the cleaning basket 5, and adjusts the glass plate 99 to an upright posture, as shown in FIG. Figure 6 As shown, the six-axis robot 3 then inserts the glass plate 99 vertically downward into the cleaning basket 5. During this period, the lateral ends of the glass plate 99 pass through the side positioning ring groove 531 tangentially, that is, the front and rear ends of the glass plate 99 move along the tangential direction of the groove bottom of the side positioning ring groove 531. Since the end of the glass plate 99 does not move toward the central axis of the side leaning rod 53, the side leaning rod 53 will not hinder the glass plate 99 from moving downward. As the glass plate 99 moves downward, the lower end of the glass plate 99 eventually contacts the bottom of the lower positioning ring groove 521 toward the central axis of the lower supporting rod 52. That is to say, the lower end of the glass plate 99 moves along the radial direction of the lower supporting rod 52 to the lower positioning ring groove 521, so the groove bottom of the lower positioning ring groove 521 can block the glass plate 99, so the groove bottom of the lower positioning ring groove 521 blocks and supports the glass plate 99. At this time, the front and rear ends of the glass plate 99 are respectively located in the corresponding side positioning ring grooves 531. The cleaning basket 5 is a cleaning basket 5 in which the glass plates 99 are placed so that they can be easily cleaned. Figure 2 As shown, the cleaning basket 5 can be transported by a cleaning basket conveying line 7. Figure 1 As shown, the cleaning basket 5 is backward away from the glass inserting basket station. As can be seen from the above, by setting the above-mentioned basket inserting system, it is avoided that the glass plate 99 needs to be manually moved from the glass conveying line 1 to the cleaning basket 5. Instead, the six-axis robot arm 3 is used to replace the manual operation to insert the glass plate 99 into the basket at a more stable rhythm and faster speed, which is conducive to improving work efficiency and reducing labor intensity.

[0025] Furthermore, if Figure 2 and Figure 4As shown, the glass conveyor line 1 includes a material bracket 12 for placing a glass plate 99 and a proximity switch 15 for detecting the arrival of the material bracket 12. The glass conveyor line 1 includes a conveyor chain 11. The material bracket 12 is arranged on the conveyor chain 11 at intervals. Specifically, the conveyor chain 11 is in a cyclic operation. The lower end of the material bracket 12 is installed on the pin shaft of the conveyor chain 11 through a right-angle ear piece. During this period, a chain support rail is provided on the conveyor frame 14. The upper part of the conveyor chain 11 slides on the above-mentioned chain support rail. Sprockets are correspondingly provided at the left and right ends of the conveyor chain 11. The conveying motor 13 drives the above-mentioned sprocket to rotate, so that the above-mentioned sprocket drives the conveyor chain 11 to operate; as shown in FIG. Figure 2 and Figure 4 As shown, the basket insertion system of the present invention also includes a lifting mechanism 2 for lifting the glass plate 99 on the material bracket 12, such as Figure 3 As shown, the lifting mechanism 2 includes a lifting cylinder 22 and a lifting rod 21 for contacting the bottom surface of the glass plate 99. The lifting cylinder 22 drives the lifting rod 21 to move up and down. Specifically, four lifting rods 21 are installed on a top frame 23. The piston rod of the lifting cylinder 22 is installed and connected to the bottom of the top frame 23, so that the lifting cylinder 22 can lift the four lifting rods 21 at the same time. The lifting mechanism 2 is provided with a photoelectric sensor 24 for detecting the bottom surface of the glass plate 99. The photoelectric sensor 24 can be arranged between the lifting rods 21. Through the above arrangement, when the glass conveyor line 1 moves the material bracket 12 and the glass plate 99 on the material bracket 12 to the right to the end of the glass conveyor line 1, the material bracket 12 triggers the in-place proximity switch 1, and the control system controls the conveying motor 13 to stop running according to the on signal of the in-place proximity switch 1, so that the material bracket 12 stops. At the same time, the control system controls the lifting cylinder 22 to lift the lifting rod 21 according to the on signal of the in-place proximity switch 1, and the lifting rod 21 contacts the bottom surface of the glass plate 99 at the end of the glass conveyor line 1, and then the lifting rod 21 lifts the glass plate 99 away from the material bracket 12, because the bottom surface of the glass plate 99 leaves the photoelectric sensor 24 (the photoelectric sensor 24 is a reflective photoelectric sensor), so that the photoelectric sensor 24 is disconnected, and the control system controls the six-axis robot 3 and the glass clamp 4 to remove the glass plate 99 on the lifting rod 21 according to the disconnection signal of the photoelectric sensor 24, and then the lifting cylinder 22 lowers the lifting rod 21 to reset, and the control system controls the conveying motor 13 to resume operation. By setting up the lifting mechanism 2 to deliver the glass plate 99 upward from the material bracket 12 to the glass clamp 4, it is avoided that the glass plate 99 is scratched by the material bracket 12 when the glass clamp 4 clamps the glass plate 99 and moves upward, causing the glass plate 99 and the glass clamp 4 to shift relative to each other, which is conducive to the subsequent glass clamp 4 to accurately insert the glass plate 99 into the cleaning basket 5.

[0026] Furthermore, if Fig. 9As shown, the lifting rod 21 includes a rod body 210 and a nylon rod head 211 for contacting the glass plate 99. The lower end of the nylon rod head 211 is fixedly connected to the upper end of the rod body 210. Specifically, the upper end of the rod body 210 can be formed with an external thread, and the above-mentioned external thread is connected to the threaded hole at the lower end of the nylon rod head 211. Since the nylon rod head 211 is made of nylon, the hardness of the nylon rod head 211 is relatively small and it can be relatively easy to deform elastically, thereby avoiding obvious noise when the nylon rod head 211 hits the bottom surface of the glass plate 99, and also avoiding the bottom surface of the glass plate 99 being scratched by the lifting rod 21.

[0027] Furthermore, if Figure 5 As shown, the material bracket 12 includes four claws 121, and the claws 121 are provided with longitudinal positioning steps 1211 for contacting and supporting the edge of the glass plate 99. The longitudinal positioning steps 1211 are arranged in at least two levels. Specifically, two claws 121 are arranged on the left, and the other two claws 121 are arranged on the right. The two claws 121 on the left and the two claws 121 on the right are arranged symmetrically facing each other, as shown in FIG. Figure 1 and Figure 2 As shown, when the glass plate 99 is placed on the material holder 12, the left end of the glass plate 99 is limited and supported by the longitudinal positioning step 1211 of the two supporting claws 121 located on the left, and the right end of the glass plate 99 is limited and supported by the longitudinal positioning step 1211 of the two supporting claws 121 located on the right, thereby preventing the glass plate 99 from shifting longitudinally relative to the material holder 12. Since the longitudinal positioning step 1211 is arranged in at least two levels, the glass plate 99 with a smaller longitudinal length can be placed on the longitudinal positioning step 1211 at a lower position, and the glass plate 99 with a larger longitudinal length can be placed on the longitudinal positioning step 1211 at a higher position, so that the material holder 12 can adapt to glass plates 99 of different sizes.

[0028] Furthermore, if Figure 7 As shown, the glass clamp 4 includes a clamping jaw 41, a clamping cylinder 42 and a clamp support plate 43. The clamping jaw 41 includes a fixed clamping finger 411 and a movable clamping finger 412. Figure 1 and Figure 2 As shown, one end of the clamp support plate 43 is connected to the end of the robot arm 301 by corresponding screws, and the fixed clamp finger 411 is installed on the other end of the clamp support plate 43 by corresponding screws, so that the fixed clamp finger 411 is relatively fixed to the clamp support plate 43, the cylinder body of the clamping cylinder 42 is installed on one side of the clamp support plate 43, and the movable clamp finger 412 is installed on the piston rod of the clamping cylinder 42, so the movable clamp finger 412 and the clamping cylinder 42 are located on the same side of the clamp support plate 43. The clamping cylinder 42 uses a three-rod cylinder on the market, so that the movable clamp finger 412 can move linearly relative to the fixed clamp finger 411. Figure 7In the visual direction, when the piston rod of the clamping cylinder 42 extends downward, the movable clamping finger 412 moves relatively close to the fixed clamping finger 411, such as Figure 1 As shown, the glass plate 99 can be clamped between the movable clamping finger 412 and the fixed clamping finger 411, and the glass plate 99 is located on one side of the clamp support plate 43. As described above, the glass clamp 4 is used to clamp the glass plate 99 longitudinally, so the fixed clamping finger 411 and the movable clamping finger 412 contact the left and right ends of the glass plate 99 respectively (at Figure 1 ); such as Figure 6 As shown, after the glass clamp 4 inserts the glass plate 99 into the cleaning basket 5, the clamping cylinder 42 raises the movable clamping finger 412, and the six-axis robot 3 moves the glass clamp 4 to the left to leave the glass plate 99, and then the six-axis robot 3 moves the glass clamp 4 upward away from the cleaning basket 5. The structure of the above-mentioned glass clamp 4 is simple, so that the glass clamp 4 can be easily manufactured into a flat and long shape structure, such as Figure 6 As shown, it is convenient for the glass clamp 4 to extend into the cleaning basket 5.

Claims

1. An automatic basket insertion system for hot-bent glass, comprising a glass conveyor line (1) and a cleaning basket (5), characterized in that: The cleaning basket (5) further comprises a six-axis robot arm (3) for inserting a glass plate (99) on the glass conveying line (1) into the cleaning basket (5), the six-axis robot arm (3) comprising a robot arm end (301), the robot arm end (301) being provided with a glass clamp (4) for longitudinally clamping the glass plate (99), the cleaning basket (5) comprising a basket frame (51), the basket frame (51) being provided with two lower support rods (52), the two lower support rods (52) being arranged in a transverse distribution, the lower support rods (52) being arranged in a transverse distribution. A lower positioning annular groove (521) is formed on the basket (51) for radially inserting the lower end of the glass plate (99), and the lower positioning annular groove (521) is arranged at intervals along the longitudinal direction. Two side support rods (53) are arranged in the basket frame (51), and side positioning annular grooves (531) are formed on the side support rods (53) for tangentially inserting the lateral ends of the glass plate (99), and the side positioning annular grooves (531) are arranged at intervals along the longitudinal direction. The glass clamp (4) can pass between the two lower support rods (52).

2. According to claim 1, the automatic basket insertion system for hot-bending glass is characterized by: The glass conveyor line (1) comprises a material support (12) for placing a glass plate (99) and a proximity switch (15) for detecting the in-position of the material support (12). The glass conveyor line (1) comprises a conveyor chain (11), and the material support (12) is arranged on the conveyor chain (11) at intervals; and further comprises a lifting mechanism (2) for lifting the glass plate (99) on the material support (12). The lifting mechanism (2) comprises a lifting cylinder (22) and a lifting rod (21) for contacting the bottom surface of the glass plate (99). The lifting cylinder (22) drives the lifting rod (21) to move up and down. The lifting mechanism (2) is provided with a photoelectric sensor (24) for detecting the bottom surface of the glass plate (99).

3. The automatic basket insertion system for hot-bending glass according to claim 2 is characterized in that: The lifting rod (21) comprises a rod body (210) and a nylon rod head (211) for contacting the glass plate (99), and the lower end of the nylon rod head (211) is fixedly connected to the upper end of the rod body (210).

4. According to claim 2, the automatic basket insertion system for hot-bending glass is characterized by: The material support (12) comprises four supporting claws (121), and the supporting claws (121) are provided with longitudinal positioning steps (1211) for contacting the edge of the supporting glass plate (99), and the longitudinal positioning steps (1211) are arranged in at least two levels.

5. According to claim 1, the automatic basket insertion system for hot-bending glass is characterized by: The glass clamp (4) comprises a clamping jaw (41), a clamping cylinder (42) and a clamp support plate (43); the clamping jaw (41) comprises a fixed clamping finger (411) and a movable clamping finger (412); one end of the clamp support plate (43) is connected to the end of the mechanical arm (301); the fixed clamping finger (411) is mounted on the other end of the clamp support plate (43) corresponding to the fixed clamping finger (411); the cylinder body of the clamping cylinder (42) is mounted on one side of the clamp support plate (43); and the movable clamping finger (412) is mounted on the piston rod of the clamping cylinder (42).

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