Swing arm manipulator transplanting equipment for glass deplating operation

Abstract

Swing arm manipulator transplanting equipment for glass deplating operation comprises a rotating assembly, a lifting mechanism, a clamping assembly, a positioning mechanism and a material trolley for bearing a glass insertion frame, the rotating assembly comprises a mounting frame, a rotating base fixed to the top of the mounting frame, a motor located beside the mounting frame and fixed to the lower surface of the rotating base, a rotating shaft penetrating through the rotating base and in driving connection with the motor, and a rotating frame connecting plate fixedly connected with the rotating shaft. A taking and placing operation station, a first stripping station and a second stripping station are arranged beside the mounting frame. The lifting mechanism comprises a lifting air cylinder fixedly connected with the tail end of the rotating frame connecting plate. The clamping assembly comprises a carrier plate located below the rotating frame connecting plate and fixedly connected with the telescopic end of the lifting air cylinder, a clamping jaw installed on the carrier plate, and a clamping jaw driving piece fixed to the carrier plate and driving the clamping jaw to be opened and closed. The positioning mechanism is located at the taking and placing operation position, a U-shaped taking and placing area is formed below the clamping jaw, and the material trolley can be pushed into or leave the U-shaped taking and placing area.

Description

Technical Field

[0001] The utility model relates to the technical field of glass stripping technology, in particular to a swing arm manipulator transplanting device used for glass stripping operations. Background Art

[0002] During the glass processing process, the glass surface is often coated and then stripped to form exquisite patterns on the glass surface, or defective coated products are stripped and reused to reduce material costs. In the glass stripping process, the glass needs to be loaded into a tank filled with stripping solution. After the stripping is completed, the glass is taken out of the tank. At present, the industry mainly uses manual loading and unloading to perform stripping operations. Because the stripping solution used in the stripping process is highly alkaline, toxic and volatile, operators need to wear protective gloves and masks when working. However, there is still a risk of the agent splashing onto the operator during the loading and unloading of the glass, which poses a major safety hazard. In addition, when manual loading and unloading is used, the total weight of the glass rack is about 14kg, and it needs to be loaded and unloaded every 30 minutes, which is time-consuming and labor-intensive. The efficiency of glass loading and unloading is insufficient, and the labor cost during operation is high. Utility Model Content

[0003] Based on this, it is necessary to address the above shortcomings and provide a swing-arm manipulator transplanting equipment for glass stripping operations that can reduce labor costs and safety hazards and improve loading and unloading efficiency.

[0004] A swing arm manipulator transplanting device for glass stripping operation, comprising:

[0005] A rotating assembly, comprising a mounting frame for fixing on the floor of a factory building, a rotating base fixed to the top of the mounting frame and protruding to the side of the mounting frame, a motor located on the side of the mounting frame and fixed to the lower surface of the rotating base, a rotating shaft passing through the rotating base and drivingly connected to the output shaft of the motor, a rotating frame connecting plate located above the rotating base and fixedly connected to the rotating shaft, the rotating frame connecting plate extending in a direction away from the mounting frame, a pick-up and place operation position and a first stripping position and a second stripping position located on opposite sides of the pick-up and place operation position are provided on the side of the mounting frame;

[0006] A lifting mechanism, the lifting mechanism comprising a lifting cylinder located above the rotating frame connecting plate and fixedly connected to the end of the rotating frame connecting plate, the telescopic end of the lifting cylinder passing through the rotating frame connecting plate and exiting from below the rotating frame connecting plate;

[0007] A clamping assembly comprising a carrier plate located below the rotating frame connecting plate and fixedly connected to the telescopic end of the lifting cylinder, a clamping claw mounted on the carrier plate, and a clamping claw driving member fixed to the carrier plate and driving the clamping claw to open and close;

[0008] A positioning mechanism, the positioning mechanism is located at the pick-and-place operation position and is fixedly connected to the factory floor, and the positioning mechanism forms a U-shaped pick-and-place area below the clamping claw; and

[0009] A material cart, which can be pushed into or out of the U-shaped pick-up and placement area, and has a placement surface for receiving the glass rack;

[0010] When the motor is working, the connecting plate of the rotating frame drives the carrier plate and the clamping claw to rotate, so that the clamping claw rotates to the pick-up and placement operation position, or rotates to the first stripping position, or rotates to the second stripping position; the clamping claw opens and closes under the action of the clamping claw driving member to grasp or release the glass rack.

[0011] In one embodiment, the positioning mechanism includes a straight guide rail fixed on the ground and extending in a straight direction, a protective box fixed at one end of the straight guide rail, a positioning cylinder accommodated in the protective box, two first guide positioning frames adjacent to the protective box and arranged oppositely on both sides of the straight guide rail, two guide baffles located on the side of the first guide positioning frame away from the protective box and arranged oppositely on both sides of the straight guide rail, a second guide positioning frame fixed on the straight guide rail, a limit block located on the side of the protective box adjacent to the straight guide rail and driven by the telescopic end of the positioning cylinder, the ends of the two guide baffles away from the protective box together form an entrance and exit for the material cart to be pushed in or out, the two guide baffles, the two first guide positioning frames and the protective box together form the U-shaped pick-up and placement area, and the bottom of the material cart is provided with a slide groove that slides with the straight guide rail and the second guide positioning frame.

[0012] In one embodiment, the angle between the extension direction of the first guide positioning frame and the length direction of the straight guide rail is between 30° and 60°, the ring side shape of the material cart is adapted to the inner contour shape of the U-shaped picking and placing area, and the end of the guide baffle adjacent to the entrance and exit is deflected away from the middle of the entrance and exit to form an inclined guide portion.

[0013] In one embodiment, a plurality of first rollers are arranged side by side on the first guide positioning frame, and the first rollers roll with the side surfaces of the ring of the material cart when the material cart is pushed into the U-shaped pick-up and placement area; a plurality of second rollers are arranged side by side on the second guide positioning frame, and the second rollers roll with the inner surface of the bottom chute of the material cart when the material cart is pushed into the U-shaped pick-up and placement area.

[0014] In one embodiment, at least one positioning assembly is provided on the placement surface of the material cart, and the positioning assembly includes two symmetrically arranged positioning clamping structures, and a clamping area for clamping the glass rack is formed between the two positioning clamping structures; the positioning clamping structure includes a mounting plate fixed on the placement surface, two lugs arranged opposite to each other and fixed on the upper surface of the mounting plate, an L-shaped positioning block located between the two lugs, and a rotating shaft passing through the L-shaped positioning block and the lugs on both sides, the L-shaped positioning block includes a horizontal part elastically connected to the mounting plate by a spring, a vertical part perpendicular to the horizontal part and fixedly connected to the horizontal part, and a through hole for the rotating shaft to pass through is provided at the connection portion between the horizontal part and the vertical part; the L-shaped positioning block swings relative to the mounting plate when squeezed by the glass rack.

[0015] In one embodiment, a guiding slope is provided on the top of the vertical portion of the L-shaped positioning block.

[0016] In one embodiment, the lifting mechanism also includes a first cylinder connecting plate fixed on the upper surface of the rotating frame connecting plate, a second cylinder connecting plate fixed on the lower surface of the rotating frame connecting plate and opposite to the first cylinder connecting plate, and a cylinder bracket located above the rotating frame connecting plate and fixedly connected to the first cylinder connecting plate. The lifting cylinder is fixed on the cylinder bracket, a first through hole corresponding to the lifting cylinder is provided on the rotating frame connecting plate, a second through hole connected to the first through hole is provided on the first cylinder connecting plate, and a third through hole connected to the first through hole is provided on the second cylinder connecting plate. The telescopic end of the lifting cylinder is sequentially penetrated by the second through hole, the first through hole and the third through hole and fixedly connected to the carrier plate.

[0017] In one embodiment, a slide rail extending along the length or width direction of the carrier is fixedly provided on the lower surface of the carrier plate, the clamping jaws include two claw heads arranged opposite to each other and slidably mounted on the slide rails, the clamping jaw driving member includes two sliding cylinders arranged opposite to each other on both sides of the carrier plate and driving the two claw heads one by one, and an air pressure interface frame fixed on the side of the carrier plate, the air pressure interface frame is provided with at least two air pressure connectors, and the air pressure connectors are respectively connected to the sliding cylinder and the external air pressure device.

[0018] In one embodiment, a shock-absorbing rubber ring is provided on the portion of the claw head that cooperates with the glass inserting frame.

[0019] In one embodiment, the swing arm manipulator transplanting equipment also includes an electrical control box located above the rotating base and fixedly connected to the rotating base, a main controller is provided in the electrical control box, a first solenoid valve for controlling the inflation and deflation of the lifting cylinder and a second solenoid valve for controlling the inflation and deflation of the sliding cylinder are provided on the rotating frame connecting plate, and the motor, the first solenoid valve and the second solenoid valve are electrically connected to the main controller respectively.

[0020] The swing-arm manipulator transplanting equipment for glass stripping operations of the present invention controls the rotation of the clamping jaws among the pick-up and placement operation position, the first stripping position, and the second stripping position through the operation of a motor, and adopts a lifting cylinder to control the lifting and lowering of the clamping jaws, and the clamping jaws are controlled by a clamping jaw driving member to open and close the clamping jaws to grab the glass racks. It replaces the manual loading and unloading operations in the stripping operation, improves the efficiency of the glass loading and unloading operations, and reduces labor costs; personnel only need to transfer the glass racks to the pick-up and placement operation position via a material cart, thereby increasing the safe distance between the operator and the solution tank and reducing the potential safety risks to personnel during the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a structural diagram of a swing arm manipulator transplanting device in one embodiment of the present utility model;

[0022] Figure 2 A side view of a swing arm manipulator transplanting device in one embodiment of the present invention;

[0023] Figure 3 for Figure 1 A schematic diagram of the partially enlarged structure of part A in the embodiment shown;

[0024] Figure 4 This is a structural diagram of a positioning mechanism in one embodiment of the present utility model;

[0025] Figure 5 This is a structural diagram of a material vehicle in one embodiment of the present invention;

[0026] Figure 6 This is a schematic structural diagram of the cooperation between the positioning mechanism and the material vehicle in one embodiment of the present utility model;

[0027] Figure 7 This is a structural diagram of a positioning component in one state in an embodiment of the present utility model;

[0028] Figure 8 This is a structural diagram of another state of the positioning component in one embodiment of the present utility model;

[0029] Figure 9 This is a schematic diagram of a positioning and clamping structure in one embodiment of the present invention. DETAILED DESCRIPTION

[0030] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, the following detailed description of specific embodiments of the present invention is provided in conjunction with the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0031] Please combine Figure 1-6 The utility model discloses a swing arm manipulator transplanting device for glass stripping operations, which can reduce labor costs and safety hazards and improve the efficiency of loading and unloading operations. The swing arm manipulator transplanting device includes a rotating component 100, a lifting mechanism 200, a clamping component 300, a positioning mechanism 400 and a material cart 500. The rotating assembly 100 includes a mounting frame 110 for fixing on the factory floor, a rotating base 120 fixed to the top of the mounting frame 110 and protruding to the side of the mounting frame 110, a motor 130 located on the side of the mounting frame 110 and fixed to the lower surface of the rotating base 120, a rotating shaft 140 that passes through the rotating base 120 and is drive-connected to the output shaft of the motor 130, a rotating frame connecting plate 150 located above the rotating base 120 and fixedly connected to the rotating shaft 140, the rotating frame connecting plate 150 extending in a direction away from the mounting frame 110, and a pick-and-place operation position 111 and a first stripping position 112 and a second stripping position 113 located on opposite sides of the pick-and-place operation position 111. The lifting mechanism 200 includes a lifting cylinder 210 located above the rotating frame connecting plate 150 and fixedly connected to the end of the rotating frame connecting plate 150, the telescopic end of the lifting cylinder 210 passing through the rotating frame connecting plate 150 and out from the bottom of the rotating frame connecting plate 150. The clamping assembly 300 includes a carrier plate 310 located below the rotating frame connecting plate 150 and fixedly connected to the telescopic end of the lifting cylinder 210, a clamping jaw 320 mounted on the carrier plate 310, and a clamping jaw driver fixed to the carrier plate 310 to drive the clamping jaw 320 to open and close. A positioning mechanism 400 is located at the pick-and-place operation station 111 and fixedly connected to the factory floor. The positioning mechanism 400 forms a U-shaped pick-and-place area 410 below the clamping jaw 320. A material cart 500 can be pushed into or out of the U-shaped pick-and-place area 410. The material cart 500 has a placement surface 510 for receiving the glass rack 10. When the motor 130 is in operation, the rotating frame connecting plate 150 drives the carrier plate 310 and the clamping jaws 320 to rotate, so that the clamping jaws 320 rotate to the pick-up and placement operation position 111, the first stripping position 112, or the second stripping position 113; the clamping jaws 320 open and close under the action of the clamping jaw driving member to grasp or release the glass rack 10.

[0032] In this embodiment, the first stripping station 112 and the second stripping station 113 are each provided with an independent solution tank, so that the motor 130 controls the horizontal position of the clamping jaw 320, causing the clamping jaw 320 to rotate between the pick-and-place operation station 111, the first stripping station 112, and the second stripping station 113. This allows the clamping jaw 320 to alternately move between the two solution tanks, thereby facilitating the stripping operation in both solution tanks through a single swing-arm manipulator transfer device, thereby improving stripping efficiency. A lifting cylinder 210 is provided to control the vertical height of the clamping jaw 320, allowing the clamping jaw 320 to rise to lift the glass rack 10 or lower to lower the glass rack 10. The clamping jaw driver controls the opening and closing of the clamping jaw 320, allowing the clamping jaw 320 to grasp or release the glass rack 10, thereby controlling the clamping jaw 320 to drive the glass rack 10 and the glass to be stripped therein to move.

[0033] The above-mentioned swing-arm robot transplanting equipment for glass stripping operations controls the rotation of the clamping jaw 320 among the pick-up and placement operation position 111, the first stripping position 112, and the second stripping position 113 through the operation of a motor, and uses a lifting cylinder 210 to control the lifting and lowering of the clamping jaw 320, and the clamping jaw driving member controls the opening and closing of the clamping jaw 320 to grasp the glass rack 10. It replaces the manual loading and unloading operations in the stripping operation, improves the efficiency of the glass loading and unloading operations, and reduces labor costs; personnel only need to transfer the glass rack 10 to the pick-up and placement operation position 111 via the material cart 500, which increases the safe distance between the operator and the solution tank and reduces the safety risks to personnel during the operation.

[0034] In one embodiment, the mounting frame 110 is a gantry frame. Eight L-shaped connecting pieces 114 are evenly spaced and fixed to the lower portion of the mounting frame 110 along the circumference of the mounting frame 110. The L-shaped connecting pieces 114 are fixed to the factory floor via anchor bolts. Furthermore, the L-shaped connecting pieces 114 are welded to the sides of the mounting frame 110 or bolted to the sides of the mounting frame 110. The rotating base 120 is welded to the top of the mounting frame 110 or screwed to the top of the mounting frame 110. In this embodiment, the motor 130 is a gear reduction motor, which is composed of a servo motor and a reducer that cooperates with the servo motor. A flange is fixed to the rotating shaft 140, which is fixedly connected to the rotating frame connecting plate 150 via screws. The first stripping station 112 and the second stripping station 113 are located on opposite sides of the mounting frame 110. The pick-and-place operation station 111 is located between the first stripping station 112 and the second stripping station 113. The line connecting the middle of the first stripping station 112 and the middle of the second stripping station 113 passes through the location of the mounting frame 110. The line connecting the middle of the first stripping station 112 and the middle of the second stripping station 113 is perpendicular to the line connecting the middle of the pick-and-place operation station 111 and the location of the mounting frame 110. The motor 130 can drive the rotating frame connecting plate 150, the lifting cylinder 210, the carrier plate 310, and the clamping claw 320 to rotate within a range of at least 270 degrees in the horizontal plane via the rotating shaft 140, so that the swing arm robot transplanting device can perform a swinging action between the three stations.

[0035] The lifting mechanism 200 also includes a first cylinder connecting plate 220 fixed to the upper surface of the rotating frame connecting plate 150, a second cylinder connecting plate 230 fixed to the lower surface of the rotating frame connecting plate 150 and opposite to the first cylinder connecting plate 220, and a cylinder bracket 240 located above the rotating frame connecting plate 150 and fixedly connected to the first cylinder connecting plate 220. The lifting cylinder 210 is fixed on the cylinder bracket 240 (that is, the cylinder body of the lifting cylinder 210 is fixed on the cylinder bracket 240). A first through hole corresponding to the lifting cylinder 210 is provided on the rotating frame connecting plate 150, a second through hole 221 communicating with the first through hole is provided on the first cylinder connecting plate 220, and a third through hole communicating with the first through hole is provided on the second cylinder connecting plate 230. The telescopic end of the lifting cylinder 210 is sequentially penetrated by the second through hole 221, the first through hole and the third through hole and fixedly connected to the carrier plate 310. Preferably, the first cylinder connecting plate 220 and the second cylinder connecting plate 230 are respectively fixed to the rotating frame connecting plate 150 by screws. By setting the first cylinder connecting plate 220, the second cylinder connecting plate 230 and the cylinder bracket 240, the lifting cylinder 210 is stably installed on the rotating frame connecting plate 150.

[0036] In one embodiment, a slide rail 330 extending along the length or width direction of the carrier plate 310 is fixedly provided on the lower surface of the carrier plate 310, and the clamping jaw 320 includes two claw heads that are relatively arranged and slidably mounted on the slide rail 330. The clamping jaw driving member includes two sliding cylinders (not shown in the figure) that are relatively arranged on both sides of the carrier plate 310 and drive the two claw heads one by one, and an air pressure interface frame 340 fixed on the side of the carrier plate 310. At least two air pressure connectors 350 are provided on the air pressure interface frame 340, and the air pressure connectors 350 are respectively connected to the sliding cylinder and the external air pressure device. During operation of the swing-arm manipulator transplanting device, compressed air is introduced into the two sliding cylinders through the two corresponding air pressure connectors 350. The telescopic ends of the sliding cylinders extend and push the claws, causing the two claws to move toward each other and grasp the glass rack 10. When air is removed from the two sliding cylinders through the corresponding air pressure connectors 350, the telescopic ends of the sliding cylinders retract and pull the claws, causing the two claws to move away from each other and release the glass rack 10. In other words, the clamping jaws 320 of this embodiment are actually pneumatic clamping jaws. The opening and closing paths of the clamping jaws 320 are defined by the slide rails 330, which prevents shaking during the opening and closing process of the clamping jaws 320 and improves the reliability of the clamping jaws 320 in grasping the glass rack 10. In other embodiments, the clamping jaws 320 can also be replaced with hydraulic manipulators or electric manipulators, which will not be described in detail here.

[0037] A shock-absorbing rubber ring is installed on the jaws where they mate with the glass rack 10. This reduces the impact of the jaws 320 gripping the glass rack 10, as well as the impact on the glass during the lifting and lowering of the glass rack 10. Preferably, the shock-absorbing rubber ring is made of fluororubber, which has excellent corrosion resistance and can withstand corrosion from 98% concentrated sulfuric acid. This helps extend the service life of the shock-absorbing rubber ring and ensures its reliable damping of the glass. Accordingly, the jaws are made of stainless steel to prevent corrosion of the jaws 320 when they come into contact with the glass rack 10 contaminated with deplating solution, thereby extending the service life of the jaws.

[0038] It should be noted that in this embodiment, the swing arm manipulator transplanting equipment also includes an electrical control box 600 located above the rotating base 120 and fixedly connected to the rotating base 120, and the electrical control box 600 is fixed to the rotating base 120 by screws; a main controller is provided in the electrical control box 600, and the main controller is a PLC controller or a single-chip microcomputer; a first solenoid valve 151 for controlling the inflation and deflation of the lifting cylinder 210 and a second solenoid valve 152 for controlling the inflation and deflation of the sliding cylinder are provided on the rotating frame connecting plate 150, and the motor 130, the first solenoid valve 151, and the second solenoid valve 152 are electrically connected to the main controller respectively. Preferably, in this embodiment, the first solenoid valve 151 and the second solenoid valve 152 are both pneumatic solenoid valves. By providing the first solenoid valve 151 and the second solenoid valve 152, the main controller can realize centralized control of the lifting cylinder 210 and the sliding cylinder.

[0039] Please combine again Figure 4-6 The positioning mechanism 400 includes a straight guide rail 420 fixed to the ground and extending in a straight direction, a protection box 430 fixed to one end of the straight guide rail 420, a positioning cylinder 440 accommodated in the protection box 430, two first guide positioning frames 450 adjacent to the protection box 430 and arranged opposite to each other on both sides of the straight guide rail 420, two guide baffles 460 located on the side of the first guide positioning frame 450 away from the protection box 430 and arranged opposite to each other on both sides of the straight guide rail 420, and a second guide positioning frame 470 fixed to the straight guide rail 420. 0. A limit block 441 is located on the side of the protective box 430 adjacent to the straight guide rail 420 and is drivingly connected to the telescopic end of the positioning cylinder 440. The two guide baffles 460, on the ends away from the protective box 430, collectively form an entrance and exit 411 for the material cart 500 to enter or exit. The two guide baffles 460, the two first guide positioning frames 450, and the protective box 430 collectively form a U-shaped loading and unloading area 410. The bottom of the material cart 500 is provided with a slide 520 that slidably cooperates with the straight guide rail 420 and the second guide positioning frame 470. In this embodiment, the straight guide rail 420, the protective box 430, the first guide positioning frame 450, and the guide baffles 460 are all fixed to the factory floor via anchor bolts, and these components are all sheet metal. The straight guide rail 420 extends perpendicular to the line connecting the middle of the first stripping station 112 and the middle of the second stripping station 113. The entrance 411 faces away from the mounting rack 110, so that the operator can push the material cart 500 into the U-shaped pick-up and placement area 410 from the side of the mounting rack 110, thereby extending the distance between the operator and the chemical tank. In addition, in this embodiment, by setting a positioning cylinder 440 and a limit block 441, when the material cart 500 is pushed into the U-shaped pick-up and placement area 410, the telescopic end of the positioning cylinder 440 drives the limit block 441 to retract, so that the material cart 500 can be placed in the U-shaped pick-up and placement area 410, and when the material cart 500 is completely pushed into the U-shaped pick-up and placement area 410, the limit block 441 is abutted against a predetermined position on the material cart 500; when the material cart 500 needs to be taken away, the telescopic end of the positioning cylinder 440 drives the limit block 441 to extend, and the limit block 441 pushes the material cart 500, so that the material cart 500 moves toward the direction close to the entrance and exit 411, so as to reduce the difficulty of taking out the material cart 500. In this embodiment, the material cart 500 is guided by two guide baffles 460 and a straight guide rail 420, and the positioning cylinder 440 and the first guide positioning frame 450 are combined to limit the material cart 500, so that the material cart 500 can always reach the specified position after entering the U-shaped pick-up and placement area 410, so that the clamp 320 can accurately grasp the glass rack 10 on the material cart 500.

[0040] In one embodiment, the angle between the extension direction of the first guide locator 450 and the length direction of the straight guide rail 420 is between 30° and 60°. The side profile of the material cart 500 is adapted to the inner contour of the U-shaped access area 410. The end of the guide baffle 460 adjacent to the entrance 411 is bent away from the center of the entrance 411 to form an inclined guide portion 461. Preferably, the angle between the extension direction of the first guide locator 450 and the length direction of the straight guide rail 420 is 45°. The two first guide locators 450 are symmetrically arranged on either side of the straight guide rail 420 to form an "eight"-shaped structure. Accordingly, inclined surfaces are formed at the positions on the material cart 500 corresponding to the two first guide locators 450. Furthermore, a plurality of first rollers 451 are arranged side by side on the first guide and positioning frame 450. These first rollers 451 roll in engagement with the side surfaces of the material cart 500 when the material cart 500 is pushed into the U-shaped access area 410. A plurality of second rollers 471 are arranged side by side on the second guide and positioning frame 470. These second rollers 471 roll in engagement with the inner surface of the bottom chute 520 of the material cart 500 when the material cart 500 is pushed into the U-shaped access area 410. Preferably, the second guide and positioning frame 470 is fixed to one end of the straight guide rail 420 adjacent to the entrance 411. The provision of the first rollers 451 and the second rollers 471 reduces friction between the material cart 500 and the positioning mechanism 400, making it easier to push the material cart 500 into the U-shaped access area 410. In addition, in this embodiment, by providing an inclined guide portion 461 on the guide baffle 460 and providing a second roller 471 on the second guide positioning frame 470, when the material cart 500 is tilted and pushed toward the entrance and exit 411, the inclined surface on the material cart 500 will slide along the inclined guide portion 461, so that the head of the material cart 500 enters the U-shaped picking and placing area 410, and then the slide groove 520 at the bottom of the material cart 500 cooperates with the second roller 471 to achieve the guidance of the material cart 500, so that the material cart 500 can be accurately pushed into the U-shaped picking and placing area 410, thereby reducing the difficulty of pushing the material cart 500 into the U-shaped picking and placing area 410.

[0041] In one embodiment, a handle 530 is provided on the side of the material cart 500 facing away from the positioning mechanism 400 (i.e., the rear end of the material cart 500). The handle 530 is used to provide a grip for the operator when pushing or pulling the material cart 500. Figure 5 as well as Figure 7-9At least one positioning component is provided on the placement surface 510 of the material cart 500. By setting the positioning component, the glass rack can be limited on the material cart 500 to avoid displacement of the glass rack during the movement of the material cart 500, ensuring that the glass rack is loaded at the same position each time so that the clamping claw 320 can grasp the glass rack. Specifically, the positioning assembly includes two symmetrically arranged positioning clamping structures 540, and a clamping area for clamping the glass rack is formed between the two positioning clamping structures 540; the positioning clamping structure 540 includes a mounting plate 541 fixed on the placement surface 510, two lugs 542 arranged opposite to each other and fixed on the upper surface of the mounting plate 541, an L-shaped positioning block 543 located between the two lugs 542, and a rotating shaft 544 passing through the L-shaped positioning block 543 and the lugs 542 on both sides. The L-shaped positioning block 543 includes a horizontal portion elastically connected to the mounting plate 541 by a spring 545, a vertical portion perpendicular to the horizontal portion and fixedly connected to the horizontal portion, and a through hole for the rotating shaft 544 to pass through is provided at the connection portion between the horizontal portion and the vertical portion; the L-shaped positioning block 543 swings relative to the mounting plate 541 when squeezed by the glass rack. In this embodiment, the L-shaped positioning block 543 is rotatable relative to the rotating shaft 544. The rotating shaft 544 can be fixed to the two lugs 542 or rotated through the two lugs 542. When the rotating shaft 544 rotates through the two lugs 542, the ends of the rotating shaft 544 engage with the outer side surfaces of the lugs 542 via clamps to prevent the rotating shaft 544 from falling off the lugs 542. When the glass rack is pressed downward, the L-shaped positioning blocks 543 of the two positioning and clamping structures 540 of the same positioning assembly are acted upon by the gravity of the glass rack. The spring 545 is compressed, causing the horizontal portion of the L-shaped positioning block 543 to swing toward the mounting plate 541. The vertical portions of the two L-shaped positioning blocks 543 of the same positioning assembly move toward each other, clamping the glass rack and achieving positioning of the glass rack. When the glass rack is removed, the spring 545 resets and drives the L-shaped positioning block 543 to rotate and lift, preparing for the next glass rack installation.

[0042] In this embodiment, when no glass rack is placed on the L-shaped positioning block 543, the L-shaped positioning block 543 is lifted to a predetermined angle by the spring 545, forming a flared opening between the two vertical portions of the L-shaped positioning block 543, thereby simplifying the installation of the glass rack into the positioning assembly. Furthermore, the top ends of the vertical portions of the L-shaped positioning block 543 are provided with inclined guide surfaces 546. The provision of the inclined guide surfaces 546 at the top ends of the vertical portions of the L-shaped positioning block 543 further increases the width of the flared opening between the vertical portions of the two L-shaped positioning blocks 543, further simplifying the installation of the glass rack into the positioning assembly.

[0043] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0044] The above-described embodiments merely represent several implementations of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements fall within the scope of protection of the present invention. Therefore, the scope of protection of the present utility model patent shall be determined by the appended claims.

Claims

1. A swing arm manipulator transplanting device for glass stripping operation, characterized in that: include: A rotating assembly, comprising a mounting frame for fixing on the floor of a factory building, a rotating base fixed to the top of the mounting frame and protruding to the side of the mounting frame, a motor located on the side of the mounting frame and fixed to the lower surface of the rotating base, a rotating shaft passing through the rotating base and drivingly connected to the output shaft of the motor, a rotating frame connecting plate located above the rotating base and fixedly connected to the rotating shaft, the rotating frame connecting plate extending in a direction away from the mounting frame, a pick-up and place operation position and a first stripping position and a second stripping position located on opposite sides of the pick-up and place operation position are provided on the side of the mounting frame; A lifting mechanism, the lifting mechanism comprising a lifting cylinder located above the rotating frame connecting plate and fixedly connected to the end of the rotating frame connecting plate, the telescopic end of the lifting cylinder passing through the rotating frame connecting plate and exiting from below the rotating frame connecting plate; A clamping assembly comprising a carrier plate located below the rotating frame connecting plate and fixedly connected to the telescopic end of the lifting cylinder, a clamping claw mounted on the carrier plate, and a clamping claw driving member fixed to the carrier plate and driving the clamping claw to open and close; A positioning mechanism, the positioning mechanism is located at the pick-and-place operation position and is fixedly connected to the factory floor, and the positioning mechanism forms a U-shaped pick-and-place area below the clamping claw; and A material cart, which can be pushed into or out of the U-shaped pick-up and placement area, and has a placement surface for receiving the glass rack; When the motor is working, the connecting plate of the rotating frame drives the carrier plate and the clamping claw to rotate, so that the clamping claw rotates to the pick-up and placement operation position, or rotates to the first stripping position, or rotates to the second stripping position; the clamping claw opens and closes under the action of the clamping claw driving member to grasp or release the glass rack.

2. The swing arm manipulator transplanting equipment according to claim 1, characterized in that: The positioning mechanism includes a straight guide rail fixed on the ground and extending in a straight direction, a protective box fixed at one end of the straight guide rail, a positioning cylinder accommodated in the protective box, two first guide positioning frames adjacent to the protective box and oppositely arranged on both sides of the straight guide rail, two guide baffles located on the side of the first guide positioning frame away from the protective box and oppositely arranged on both sides of the straight guide rail, a second guide positioning frame fixed on the straight guide rail, a limit block located on the side of the protective box adjacent to the straight guide rail and driven by the telescopic end of the positioning cylinder, the ends of the two guide baffles away from the protective box together form an entrance and exit for the material cart to be pushed in or out, the two guide baffles, the two first guide positioning frames and the protective box together form the U-shaped picking and placing area, and the bottom of the material cart is provided with a slide groove that slides with the straight guide rail and the second guide positioning frame.

3. The swing arm manipulator transplanting equipment according to claim 2, characterized in that: The angle between the extension direction of the first guide positioning frame and the length direction of the straight guide rail is between 30° and 60°. The ring side shape of the material car is adapted to the inner contour shape of the U-shaped picking and placing area. The end of the guide baffle adjacent to the entrance and exit is deflected away from the middle of the entrance and exit to form an inclined guide portion.

4. The swing arm manipulator transplanting equipment according to claim 2, characterized in that: A plurality of first rollers are arranged side by side on the first guide positioning frame, and the first rollers roll with the side surfaces of the ring of the material cart when the material cart is pushed into the U-shaped pick-up and placement area; a plurality of second rollers are arranged side by side on the second guide positioning frame, and the second rollers roll with the inner surface of the bottom chute of the material cart when the material cart is pushed into the U-shaped pick-up and placement area.

5. The swing arm manipulator transplanting equipment according to claim 1, characterized in that: At least one positioning assembly is provided on the placement surface of the material cart, and the positioning assembly includes two symmetrically arranged positioning clamping structures, and a clamping area for clamping the glass rack is formed between the two positioning clamping structures; the positioning clamping structure includes a mounting plate fixed on the placement surface, two lugs arranged opposite to each other and fixed to the upper surface of the mounting plate, an L-shaped positioning block located between the two lugs, and a rotating shaft passing through the L-shaped positioning block and the lugs on both sides, the L-shaped positioning block includes a horizontal part elastically connected to the mounting plate by a spring, a vertical part perpendicular to the horizontal part and fixedly connected to the horizontal part, and a through hole for the rotating shaft to pass through is provided at the connection position of the horizontal part and the vertical part; the L-shaped positioning block swings relative to the mounting plate when squeezed by the glass rack.

6. The swing arm manipulator transplanting equipment according to claim 5, characterized in that: A guiding inclined surface is provided on the top of the vertical portion of the L-shaped positioning block.

7. The swing arm manipulator transplanting equipment according to claim 1, characterized in that: The lifting mechanism also includes a first cylinder connecting plate fixed to the upper surface of the rotating frame connecting plate, a second cylinder connecting plate fixed to the lower surface of the rotating frame connecting plate and opposite to the first cylinder connecting plate, and a cylinder bracket located above the rotating frame connecting plate and fixedly connected to the first cylinder connecting plate. The lifting cylinder is fixed on the cylinder bracket, a first through hole corresponding to the lifting cylinder is opened on the rotating frame connecting plate, a second through hole communicating with the first through hole is opened on the first cylinder connecting plate, and a third through hole communicating with the first through hole is opened on the second cylinder connecting plate. The telescopic end of the lifting cylinder is sequentially penetrated by the second through hole, the first through hole and the third through hole and fixedly connected to the carrier plate.

8. The swing arm manipulator transplanting device according to claim 1, characterized in that: A slide rail extending along the length or width direction of the carrier is fixedly provided on the lower surface of the carrier plate. The clamping jaws include two claw heads arranged opposite to each other and slidably mounted on the slide rails. The clamping jaw driving member includes two sliding cylinders arranged opposite to each other on both sides of the carrier plate and driving the two claw heads one by one, and an air pressure interface frame fixed on the side of the carrier plate. The air pressure interface frame is provided with at least two air pressure connectors, which are respectively connected to the sliding cylinders and the external air pressure device.

9. The swing arm manipulator transplanting device according to claim 8, characterized in that: A shock-absorbing rubber ring is provided on the portion of the claw head that cooperates with the glass inserting frame.

10. The swing arm manipulator transplanting device according to claim 8, characterized in that: It also includes an electrical control box located above the rotating base and fixedly connected to the rotating base, wherein a main controller is provided in the electrical control box, and a first solenoid valve for controlling the inflation and deflation of the lifting cylinder and a second solenoid valve for controlling the inflation and deflation of the sliding cylinder are provided on the connecting plate of the rotating frame, and the motor, the first solenoid valve and the second solenoid valve are electrically connected to the main controller respectively.

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