Device for automatically detecting large number and small number of pieces of L-shaped frame glass in full frame

Abstract

The utility model belongs to the technical field of glass transportation, and discloses a device for automatically detecting the number of pieces of full L-frame glass and the number of pieces of pieces of full L-frame glass. The device comprises a rotating platform and a detection sensor, the rotating platform is provided with at least two fixing structures in the circumferential direction, the rotating platform can rotate to change the positions of the fixing structures, each fixing structure is used for being detachably connected with an L-shaped frame, and a carrying robot can carry glass from the L-shaped frames one by one. The detection sensor is used for detecting whether glass remains on the L-shaped frame or not. By means of the device for automatically detecting the number of pieces of full glass of the L-shaped frames and the number of pieces of small glass of the L-shaped frames, the time for positioning and installing the L-shaped frames is saved, continuous unloading of the multiple L-shaped frames is achieved, the unloading efficiency is improved, meanwhile, the detection sensors can detect whether glass remains on the L-shaped frames or not in real time, and the detection efficiency is improved. Therefore, collision and efficiency reduction caused by invalid operation of the robot under the condition that no glass exists are prevented, or unloading missing or glass damage caused by the condition that glass exists are prevented.

Description

Technical Field

[0001] The utility model relates to the technical field of glass transportation, in particular to an automatic detection device for the number of full L-frame glass sheets, the number of which is too many or too few. Background Art

[0002] In the middle of glass production, L-racks are used to pack and fix multiple pieces of glass for overall transportation, thereby improving the transportation efficiency and safety of large quantities of glass. Before the process that requires individual processing of each piece of glass, the glass needs to be unloaded from the L-rack one by one.

[0003] In the existing automation process, robots and manipulators are often used to unload the glass one by one to improve transportation efficiency and reduce transportation costs. However, this mode of transportation requires waiting for the positioning of the L-rack before picking up the glass one by one. In addition, since the number of glasses fixed on the L-rack is not fixed, the robot often fails to recognize the remaining glass and directly damages the remaining glass, or the robot fails to recognize that all the glass has been taken and collides with the L-rack or other structures when continuing to take, which seriously affects the normal glass unloading operation.

[0004] Based on the above, there is an urgent need for an automatic detection device for whether the number of full L-frame glass sheets is too many or too few to solve the above technical problems. Utility Model Content

[0005] One purpose of the utility model is to provide an automatic detection device for the number of full L-frame glass sheets, which can ensure the normal progress of glass unloading operations, improve the efficiency of glass unloading operations, and avoid collision accidents.

[0006] To achieve this purpose, the utility model adopts the following technical solutions:

[0007] The automatic detection device for the number of pieces in a full L-frame glass rack is used to cooperate with a handling robot. ...

[0008] A rotating platform, wherein the rotating platform is provided with at least two fixed structures along the circumference, and the rotating platform can rotate to change the position of the fixed structures, and each of the fixed structures is used to detachably connect an L-frame; a detection sensor, wherein the detection sensor is used to detect whether the glass remains on the L-frame, and the detection sensor is connected to the transport robot signal;

[0009] The transport robot is equipped with a transport jig, and the transport jig can transport the glass one by one from the L rack.

[0010] Preferably, the rotating platform comprises a rotating base and a rotating disk, the rotating disk is rotatably mounted on the rotating base, and at least two of the fixed structures are fixedly mounted on the rotating disk.

[0011] Preferably, at least two of the fixed structures are circumferentially arranged around the center of the rotating disk, and the rotating base can rotate the rotating disk to selectively make the fixed structures face the transport robot.

[0012] Preferably, a frame body is provided on the rotating disk, and the frame body has two first frames arranged in the vertical direction and at least one second frame arranged in the horizontal direction, the bottom ends of the two first frames are fixedly installed on the rotating disk, the two ends of the second frame are respectively connected to the top ends of the two first frames, and one of the fixed structures is provided on each side of the frame body, and each of the fixed structures is fixedly connected to at least two of the first frames.

[0013] Preferably, the automatic detection device for the number of full L-frame glass pieces is also provided with a sensor bracket, one end of which is mounted on the frame body and the other end is located in the middle of the frame body, and the detection sensor is mounted on the sensor bracket.

[0014] Preferably, the detection sensor is mounted on the sensor bracket in an adjustable position.

[0015] Preferably, at least two sensor mounting seats are provided on the sensor bracket, and the detection sensor can be detachably mounted on the sensor mounting seats by fasteners.

[0016] Preferably, at least two sensor mounting buckles are provided on the sensor bracket, and the detection sensor can be mounted on the sensor mounting buckles.

[0017] Preferably, the automatic detection device for the number of glasses in a full L-frame includes at least two detection sensors, each of which is used to detect the number of glasses on a fixed structure.

[0018] Preferably, the automatic detection device for whether the L-frame is full of glasses with more or less pieces includes at least one detection sensor set in a fixed direction, and the detection sensor is used to detect whether the glass remains on the fixed structure facing the transport robot.

[0019] The beneficial effects of the utility model include: through the automatic detection device for the number of full glass racks or the number of insufficient glass racks on the L-rack, not only the time for positioning and installing the L-rack is saved, but also the continuous unloading of multiple L-racks is realized, and the unloading efficiency is improved. At the same time, the detection sensor will detect in real time whether there is any glass remaining on the L-rack, and feed back this information to the handling robot to prevent the robot from performing invalid operations in the absence of glass, resulting in collisions and reduced efficiency, or missing unloading or causing damage to the glass when there is still glass. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is the first stereogram of the automatic detection device for the number of full-frame glass pieces in an L-frame provided by the utility model;

[0021] Figure 2 This is a second stereoscopic diagram of the automatic detection device for detecting whether there are too many or too few pieces of glass in a full L-frame provided by the utility model.

[0022] In the figure:

[0023] 1. Rotating platform; 11. Frame body; 12. Sensor bracket;

[0024] 2. Handling robot; 21. Handling fixture;

[0025] 3. Detection sensor;

[0026] 4. L-frame. DETAILED DESCRIPTION

[0027] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only the parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0028] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0030] In the description of this embodiment, the terms "upper", "lower", "right", etc., are based on the directions or positions shown in the drawings, and are only for the convenience of description and simplified operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0031] The following is based on the attached Figure 1 To Attachment Figure 2 The utility model provides an automatic detection device for detecting whether the glass rack is full or not. The automatic detection device for detecting whether the glass rack is full or not realizes automatic, efficient and safe unloading of the glass on the L rack 4 through innovative structural design.

[0032] Specifically, Figure 1 , Figure 2 As shown, the automatic detection device for the number of full-frame glass pieces, whether there are too many or too few pieces, mainly includes a rotating platform 1 and a detection sensor 3, and can cooperate with a handling robot 2 to unload the glass. At least two fixed structures are arranged on the rotating platform 1 along the circumference, and the rotating platform 1 can rotate to change the position of the fixed structure. The fixed structure is used to detachably connect an L frame 4. When the rotating platform 1 rotates, the L frame 4 can be rotated to a position away from the handling robot 2 to facilitate the positioning and installation of the L frame, and after the L frame is positioned and installed, the L frame 4 is rotated to a position close to and facing the handling robot 2. The handling robot 2 is equipped with a handling jig 21, and the handling robot 2 can carry the glass one by one from the L frame 4 through the handling jig 21. The detection sensor 3 is used to detect whether there is any glass left on the L frame 4, and the detection sensor 3 is connected to the handling robot 2 signal.

[0033] When in use, for example, an L rack 4 is first placed on a fixed structure away from the handling robot 2, and is fixed by limiting the position. After the limit fixing, the fixed structure is rotated to a position close to and facing the handling robot 2 by rotating the rotating platform 1, and the handling robot 2 can unload one by one. While the handling robot 2 is unloading one by one, another L rack 4 can be placed on other fixed structures and fixed by limiting the position. When the glass on the previous L rack 4 is unloaded, the L rack 4 on which the L rack is positioned and installed can be transferred to a position close to and facing the handling robot 2 by rotating the rotating platform 1 again, and unloading can be continued.

[0034] During the unloading process, the handling robot 2 will perform a preset number of unloading actions according to the glass full frame set number of pieces on the current gripping surface L frame 4, and will perform a rotating frame action when the number of unloading actions is equal to the glass full frame set number of pieces, that is, transfer the current gripping surface L frame 4 to other positions, and transfer another L frame 4 to the current gripping surface. If during the preset number of unloading actions, the detection sensor 3 detects that there is no glass on the L frame 4, that is, there is a shortage of glass pieces, then a jump signal will be sent to the handling robot 2 to skip the remaining unloading actions until the next glass unloading operation on the L frame 4 is performed, to avoid the situation of continuing to probe the plate or even causing the jig to be squeezed and deformed. If the preset number of unloading actions is completed, and the detection sensor 3 detects that there is no glass on the L frame 4, that is, the number of glass pieces is 0, then only the rotating frame action will be performed. If the detection sensor 3 detects that there is still glass left on the L rack 4 after the preset number of unloading actions, that is, when there are multiple pieces, a supplementary signal will be sent to the handling robot 2. The handling robot 2 will repeat the unloading action based on the original preset number of times and wait for the next detection result of the detection sensor 3 after completing the unloading action. If the next detection result shows that there is still glass left, the steps of unloading and waiting for the detection result will be repeated again. If there is no glass left, the next step of unloading the glass on the L rack 4 will be entered to avoid the phenomenon of missing glass.

[0035] Exemplarily, if the detection sensor 3 detects that there is glass on the L rack 4 currently being unloaded, it outputs a signal "1". If it detects that there is no glass on the L rack 4 currently being unloaded, it outputs a signal "0". The handling robot 2 performs a preset number of unloading actions according to the set number of glasses, that is, when the set number of glasses is not 0, an unloading action is performed, and each time an unloading action is performed, the set number of glasses is reduced by 1 until it is reduced to 0. When the detection sensor 3 outputs a signal of "0" and the set number of glasses is reduced to 0, the handling robot 2 completes the unloading operation of the current L rack 4 by default, and the set number of glasses is restored to the full rack number. The rack is automatically rotated to the B side and the unloading operation of the next L rack 4 is performed.

[0036] When the output signal of the detection sensor 3 is "0", but the set number of glasses is greater than 1, the current set number of glasses is overwritten with 0, the unloading operation of the current L rack 4 is completed by default, the set number of glasses is restored to the full rack number, the rack is automatically transferred to the B side, and the unloading operation of the next L rack 4 is performed.

[0037] When the output signal of the detection sensor 3 is "1" and the set number of glasses is reduced to 0, the current set number of glasses is overwritten with 1, and an unloading operation is performed. This cycle is repeated until the output signal of the detection sensor 3 is "0" and the set number of glasses is reduced to 0. The unloading operation of the current L rack 4 is completed by default, the set number of glasses is restored to the full rack number, the rack is automatically transferred to the B side, and the unloading operation of the next L rack 4 is performed.

[0038] By using the automatic detection device for whether the L-frame is full of glasses with more or less pieces, not only the time for positioning and installing the L-frame is saved, but also continuous unloading of multiple L-frames 4 is realized, thereby improving the unloading efficiency. At the same time, the detection sensor 3 will detect in real time whether there is any glass remaining on the L-frame 4, and feed back this information to the handling robot 2 to prevent the robot from performing invalid operations in the absence of glass, resulting in collisions and reduced efficiency, or missing unloading or causing damage to the glass when there is still glass.

[0039] Specifically, in this embodiment, the rotating platform 1 includes a stable rotating base and a rotatable rotating disk. The rotating disk is mounted on the rotating base and can rotate freely. Two fixed structures are fixedly mounted on the rotating disk, and the two fixed structures are used to fix the L frame 4. The two fixed structures are designed to be arranged circumferentially around the center of the rotating disk, so that when the rotating base rotates the rotating disk, one of the fixed structures can be selectively placed to face the handling robot 2, which is convenient for the robot to perform glass unloading operations.

[0040] The handling robot 2 is equipped with a special handling jig 21, which is designed to suck up the glass one by one from the L rack 4, realizing an automated unloading process, greatly improving work efficiency and reducing labor costs. Preferably, the handling jig 21 is provided with a plurality of suction cups arranged in an array, so that the glass is evenly stressed and damage to the glass is avoided during unloading and handling.

[0041] Optionally, in some other embodiments, three, four or more fixed structures may be arranged circumferentially around the center of the rotating disk. The number of fixed structures is not specifically limited in the present invention, as long as the rotating base can rotate the rotating disk to selectively make the fixed structure face the transport robot 2. This layout allows only one L frame 4 to face the transport robot 2 at a time, ensuring the orderly unloading process.

[0042] Preferably, in this embodiment, a frame body 11 is provided on the rotating disk, and the frame body 11 has two first frames arranged in the vertical direction and at least one second frame arranged in the horizontal direction. The bottom ends of the two first frames are fixedly mounted on the rotating disk, the two ends of the second frame are respectively connected to the top ends of the two first frames, and a fixed structure is provided on each side of the frame body 11, and each fixed structure is fixedly connected to at least two first frames, so as to support the fixed structure and enhance the overall stability.

[0043] Optionally, the automatic detection device for the number of full-frame glass pieces, the number of pieces or the number of pieces, further comprises a sensor bracket 12, one end of the sensor bracket 12 is mounted on the frame body 11, and the other end is located in the middle of the frame body 11, and the detection sensor 3 is installed on the sensor bracket 12. Through the sensor bracket 12, the setting position of the detection sensor 3 can be conveniently designed, thereby conveniently improving the recognition readiness of the detection sensor 3.

[0044] Preferably, the position of the detection sensor 3 is adjustable and mounted on the sensor bracket 12. In actual operation, the position of the detection sensor 3 can be adjusted as needed to ensure that it can accurately monitor whether there is glass remaining on the L frame 4. This flexibility enables the automatic detection device for the number of full and insufficient glass sheets on the L frame to adapt to L frames 4 of different sizes and layouts, as well as a variety of glasses with different reflectivity and different materials.

[0045] For example, in this embodiment, at least two sensor mounting seats are provided on the sensor bracket 12, and the detection sensor 3 can be detachably mounted on the sensor mounting seats by fasteners. Optionally, in some other embodiments, at least two sensor mounting buckles are provided on the sensor bracket 12, and the detection sensor 3 can be buckled and mounted on the sensor mounting buckles. Of course, in addition to installation by fasteners and buckles, various methods such as magnetic installation or installation on a slide rail can also be used to achieve flexible position adjustment of the detection sensor 3, which is not specifically limited in the present utility model.

[0046] like Figure 1 As shown, in this embodiment, the automatic detection device for the number of full-frame glass pieces on the L-frame includes two detection sensors 3, which are arranged on both sides of the sensor bracket 12 in opposite directions, and each detection sensor 3 is used to detect the number of glasses on a fixed structure. Optionally, in some other embodiments, the automatic detection device for the number of full-frame glass pieces on the L-frame includes at least one detection sensor 3 arranged in a fixed direction, and the detection sensor 3 is used to detect whether there is any glass remaining on the fixed structure facing the handling robot 2.

[0047] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the scope of protection of the present invention. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the scope of protection of the claims of the present invention.

Claims

1. An automatic detection device for the number of full glass racks (L racks) or insufficient glass racks, used in conjunction with a handling robot (2), characterized in that: The automatic detection device for the number of full-frame glass sheets, the number of sheets in excess or shortage, comprises: A rotating platform (1), wherein the rotating platform (1) is provided with at least two fixed structures along the circumferential direction, and the rotating platform (1) is capable of rotating to change the position of the fixed structures, and each of the fixed structures is used to detachably connect an L-frame (4); a detection sensor (3), wherein the detection sensor (3) is used to detect whether the glass remains on the L-frame (4), and the detection sensor (3) is connected to the transport robot (2) by signal. The transport robot (2) is equipped with a transport jig (21), and the transport jig (21) is capable of transporting glass one by one from the L frame (4).

2. The automatic detection device for the number of full L-frame glass pieces or the number of insufficient pieces according to claim 1 is characterized in that: The rotating platform (1) comprises a rotating base and a rotating disk, the rotating disk is rotatably mounted on the rotating base, and at least two fixed structures are fixedly mounted on the rotating disk.

3. The automatic detection device for the number of full L-frame glass pieces or the number of insufficient pieces according to claim 2 is characterized in that: At least two of the fixed structures are arranged circumferentially around the center of the rotating disk, and the rotating base can rotate the rotating disk to selectively make the fixed structure face the transport robot (2).

4. The automatic detection device for the number of full L-frame glass pieces or the number of insufficient pieces according to claim 3 is characterized in that: A frame body (11) is arranged on the rotating disk, and the frame body (11) comprises two first frames arranged in a vertical direction and at least one second frame arranged in a horizontal direction, the bottom ends of the two first frames are fixedly mounted on the rotating disk, the two ends of the second frame are respectively connected to the top ends of the two first frames, and one of the fixing structures is arranged on each side of the frame body (11), and each of the fixing structures is fixedly connected to at least two of the first frames.

5. The automatic detection device for the number of full L-frame glass pieces or the number of insufficient pieces according to claim 4 is characterized in that: The L-frame glass full frame automatic detection device also includes a sensor bracket (12), one end of the sensor bracket (12) is mounted on the frame body (11), and the other end is located in the middle of the frame body (11), and the detection sensor (3) is mounted on the sensor bracket (12).

6. The automatic detection device for the number of full L-frame glass pieces or the number of insufficient pieces according to claim 5 is characterized in that: The detection sensor (3) is mounted on the sensor bracket (12) in an adjustable manner.

7. The automatic detection device for the number of full L-frame glass pieces or the number of insufficient pieces according to claim 6 is characterized in that: At least two sensor mounting seats are arranged on the sensor bracket (12), and the detection sensor (3) can be detachably mounted on the sensor mounting seats by means of fasteners.

8. The automatic detection device for the number of full L-frame glass pieces or the number of insufficient pieces according to claim 6 is characterized in that: At least two sensor mounting buckles are provided on the sensor bracket (12), and the detection sensor (3) can be mounted on the sensor mounting buckles.

9. The automatic detection device for the number of full L-frame glass pieces or the number of insufficient pieces according to claim 1 is characterized in that: The automatic detection device for the number of full-frame glasses, the number of glasses being too many or too few, comprises at least two detection sensors (3), each of which is used to detect the number of glasses on a fixed structure.

10. The automatic detection device for the number of full L-frame glass pieces or the number of insufficient pieces according to claim 1 is characterized in that: The automatic detection device for the number of full glass racks (excess or shortage) comprises at least one detection sensor (3) arranged in a fixed direction, wherein the detection sensor (3) is used to detect whether the glass remains on the fixed structure facing the transport robot (2).

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