Automatic glass unloading equipment

Abstract

The utility model discloses automatic glass unloading equipment. The automatic glass unloading equipment comprises a bottom plate, a first conveying mechanism, a second conveying mechanism, a third conveying mechanism and a glass unloading mechanism, the sheet unloading mechanism is arranged across the top side of the bottom plate, the first conveying mechanism is arranged on one side of the sheet unloading mechanism, and the second conveying mechanism and the third conveying mechanism are arranged on the other side of the sheet unloading mechanism relative to the first conveying mechanism; the automatic glass unloading equipment further comprises a material supporting structure. The material supporting structure comprises a supporting plate and a plurality of guide columns, and the guide columns are arranged on the surface of the top side of the supporting plate. The automatic glass sheet unloading equipment conveys a material supporting structure to the output end of the second conveying mechanism, the material taking end of the sheet unloading mechanism clamps the material supporting structure to the input end of the third conveying mechanism, and the sheet unloading mechanism takes glass sheets to be unloaded from the output end of the first conveying mechanism and places the glass sheets into the material supporting structure. And the glass sheets are conveyed to the discharging end through the third conveying mechanism along with the material supporting structure, so that the sheet unloading process of the glass sheets is completed.

Description

Technical Field

[0001] This utility model relates to the technical field of glass feeding equipment, and in particular to an automatic glass unloading device. Background Technology

[0002] The glass unloading mechanism is a key piece of equipment in a glass processing production line. It is primarily used to automatically or semi-automatically remove, sort, stack, or transport cut glass sheets from processing equipment (such as cutting machines, edging machines, and tempering furnaces) to the next process. Its core function is to efficiently and accurately handle and transfer glass while preventing breakage, thus improving production efficiency and safety. Existing glass unloading equipment generally consists of a conveying system, a robotic arm / gripping device, a positioning and detection system, a sorting and stacking mechanism, and a control system. The robotic arm is typically equipped with vacuum suction cups or grippers to adsorb or hold the glass. The detection system generally uses photoelectric sensors, vision cameras, or laser rangefinders to detect the position, size, and edges of the glass in real time, ensuring accurate gripping and placement.

[0003] For unloading sheet glass products, Chinese invention patent CN116395398A discloses an automatic sheet picking and stacking device for a photovoltaic glass production line. It includes a base plate, a stacking platform fixed to the top of the base plate via a support plate, a mobile robotic arm mounted on the stacking platform, and a flat plate fixed to the bottom of the mobile robotic arm via a support rod. Mounting cylinders are fixed to both sides of the bottom of the flat plate, and suction cups are connected to the bottom of both mounting cylinders. Air guiding components for introducing external air into the suction cups are provided on both mounting cylinders. This automatic sheet picking and stacking device for photovoltaic glass production lines, through the suction cups, can directly adsorb and pick up photovoltaic glass. Compared to negative pressure adsorption machines, it has lower operating costs. After adsorption, the air guiding components allow external air to smoothly enter the suction cups, facilitating the separation of the photovoltaic glass from the suction cups and making unloading more convenient. Air can be simultaneously introduced into both suction cups by a cylinder drive.

[0004] However, the aforementioned glass sheet unloading equipment lacks a structure for receiving and limiting the glass sheet, which can easily damage the glass sheet during the actual unloading process and seriously affect the unloading efficiency of the product. Utility Model Content

[0005] Therefore, it is necessary to provide an automatic glass unloading device to address the technical problem of low working efficiency of existing glass unloading equipment.

[0006] An automatic glass unloading device includes a base plate, a first conveying mechanism, a second conveying mechanism, a third conveying mechanism, and an unloading mechanism. The first conveying mechanism, the second conveying mechanism, the third conveying mechanism, and the unloading mechanism are all installed on the surface of the base plate. The unloading mechanism spans the top side of the base plate, the first conveying mechanism is located on one side of the unloading mechanism, and the second and third conveying mechanisms are located on the other side of the unloading mechanism opposite to the first conveying mechanism. The material-taking end of the unloading mechanism is respectively matched with the output end of the first conveying mechanism, the output end of the second conveying mechanism, and the input end of the third conveying mechanism.

[0007] The automatic glass unloading equipment also includes a material support structure, which is respectively coordinated with the second conveying mechanism, the third conveying mechanism, and the unloading mechanism.

[0008] The material support structure includes a pallet and several guide posts. The pallet can be matched with the material picking end of the second conveying mechanism, the third conveying mechanism and the unloading mechanism. Several guide posts are set on the top side surface of the pallet.

[0009] In one embodiment, the aforementioned guide posts are arranged in pairs parallel to each other on the top surface of the pallet, matching the shape of the glass sheets to be unloaded; the guide posts of a preset length can form a stacking space for the glass sheets.

[0010] In one embodiment, the unloading mechanism includes a bracket, a first linear guide rail, a second linear guide rail, and a material picking assembly. The bracket spans the top side of the base plate; the first linear guide rail is parallel to the base plate and disposed on the top of the bracket; the second linear guide rail is perpendicular to the base plate and disposed on the slide of the first linear guide rail; and the material picking assembly is mounted on the slide of the second linear guide rail.

[0011] In one embodiment, the material handling assembly includes a mounting base, a first parallel mechanical clamp, and a first gripper. The mounting base is connected to the slide of the second linear guide rail; the first parallel mechanical clamp is disposed on the mounting base; and the first gripper is disposed at the output end of the first parallel mechanical clamp.

[0012] In one embodiment, the material handling component described above includes a suction cup disposed on the gripping end side surface of the first gripper.

[0013] In one embodiment, the aforementioned automatic glass unloading device further includes a detection mechanism, which is mounted on a bracket corresponding to the third conveying mechanism, and the information acquisition end of the detection mechanism is positioned facing the third conveying mechanism.

[0014] In one embodiment, the aforementioned inspection agency uses an industrial camera to inspect the glass sheet removal process.

[0015] In one embodiment, the aforementioned detection mechanism includes a camera module, a third linear guide rail, and a fourth linear guide rail. The third linear guide rail is parallel to the base plate and disposed on the top of the bracket; the fourth linear guide rail is perpendicular to the base plate and disposed on the slide of the third linear guide rail; and the camera module is disposed on the slide of the fourth linear guide rail.

[0016] In one embodiment, the aforementioned automatic glass unloading device further includes a fourth conveying mechanism and a transfer mechanism. The fourth conveying mechanism is disposed adjacent to the third conveying mechanism; the transfer mechanism is disposed on the slide of the third linear guide rail, and the material picking end of the transfer mechanism is respectively matched with the output end of the third conveying mechanism and the input end of the fourth conveying mechanism.

[0017] In one embodiment, the aforementioned transfer mechanism includes a lifting assembly, a second horizontal mechanical clamp, and a second gripper; the lifting assembly is disposed on a slide of a third linear guide rail; the second horizontal mechanical clamp is disposed at the output end of the lifting assembly; and the second gripper is disposed at the output end of the second horizontal mechanical clamp.

[0018] The aforementioned automatic glass unloading equipment transports the material support structure to the output end of the second conveying mechanism. The unloading mechanism's picking end clamps the material support structure to the input end of the third conveying mechanism. Then, the unloading mechanism takes the glass sheet to be unloaded from the output end of the first conveying mechanism and puts it into the material support structure. Finally, the glass sheet is transported to the unloading end through the third conveying mechanism along with the material support structure, thus completing the glass unloading process. The material support structure includes a pallet and several guide posts. The pallet can be matched with the picking ends of the second conveying mechanism, the third conveying mechanism, and the unloading mechanism. The guide posts are arranged in pairs parallel to each other on the top surface of the pallet to match the shape of the glass sheets to be unloaded. This allows the guide posts to guide the glass sheets as they are placed on the pallet surface and to limit their movement, thus maintaining the stability of the glass sheets during transport. At the same time, the guide posts of a preset length can form a stacking space for the glass sheets, thereby enabling the material support structure to support and transport the glass sheets in batches, effectively improving the unloading efficiency of the glass sheets, while reducing displacement and collision between stacked glass sheets and preventing damage to the glass sheets. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of an automatic glass unloading device in one embodiment;

[0020] Figure 2 This is a schematic diagram of the structure of an automatic glass unloading device in one embodiment;

[0021] Figure 3 for Figure 1 An enlarged structural diagram of part M in the illustrated embodiment. Detailed Implementation

[0022] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0023] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0025] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0026] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0027] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0028] Please see Figures 1 to 3This utility model discloses an automatic glass unloading device, which includes a base plate 100, a first conveying mechanism 200, a second conveying mechanism 300, a third conveying mechanism 400, and an unloading mechanism 500. The first conveying mechanism 200, the second conveying mechanism 300, the third conveying mechanism 400, and the unloading mechanism 500 are all mounted on the surface of the base plate 100. The unloading mechanism 500 spans the top side of the base plate 100. The first conveying mechanism 200 is located on one side of the unloading mechanism 500, and the second conveying mechanism 300 and the third conveying mechanism 400 are located on the opposite side of the unloading mechanism 500. The material-collecting end of the unloading mechanism 500 corresponds to the output end of the first conveying mechanism 200, the output end of the second conveying mechanism 300, and the input end of the third conveying mechanism 400, respectively. Based on this, the automatic glass unloading device also includes a material-supporting structure 600, which is connected to the second conveying mechanism 400 and the third conveying mechanism 500. Mechanism 300, third conveying mechanism 400, and unloading mechanism 500 cooperate accordingly, so that the material support structure 600 can be conveyed by the second conveying mechanism 300 and the third conveying mechanism 400. When the automatic glass unloading equipment is unloading glass sheets, the material support structure 600 is conveyed to the output end of the second conveying mechanism 300. The material picking end of the unloading mechanism 500 clamps the material support structure 600 to the input end of the third conveying mechanism 400. Then, the unloading mechanism 500 takes the glass sheet to be unloaded from the output end of the first conveying mechanism 200 and puts it into the material support structure 600. Finally, the glass sheet is conveyed to the unloading end by the third conveying mechanism 400 along with the material support structure 600, thus completing the glass sheet unloading process. The material support structure 600 includes a support plate 610 and a plurality of guide posts 620. The support plate 610 can be correspondingly matched with the picking end of the second conveying mechanism 300, the third conveying mechanism 400, and the unloading mechanism 500. The plurality of guide posts 620 are disposed on the top side surface of the support plate 610. Specifically, the plurality of guide posts 620 are arranged in pairs parallel to each other on the top side surface of the support plate 610 to match the shape of the glass sheets to be unloaded. This allows the guide posts 620 to guide the glass sheets as they are placed on the surface of the support plate 610 and to limit the glass sheets, thereby maintaining the stability of the glass sheets during the conveying process. At the same time, the plurality of guide posts 620 of a preset length can form a stacking space for the glass sheets, thereby realizing the batch support and conveying of the glass sheets by the material support structure 600, effectively improving the unloading efficiency of the glass sheets, while reducing the displacement and collision between the stacked glass sheets and avoiding damage to the glass sheets.

[0029] Furthermore, the unloading mechanism 500 includes a bracket 510, a first linear guide rail 520, a second linear guide rail 530, and a material picking assembly 540. The bracket 510 spans the top side of the base plate 100; the first linear guide rail 520 is parallel to the base plate 100 and is disposed on the top of the bracket 510; the second linear guide rail 530 is perpendicular to the base plate 100 and is disposed on the slide of the first linear guide rail 520; the material picking assembly 540 is mounted on the slide of the second linear guide rail 530, thereby realizing the dual-axis movement of the material picking assembly 540, so that the material picking assembly 540 can cooperate with the first conveying mechanism 200, the second conveying mechanism 300, and the third conveying mechanism 400 to perform material picking and unloading operations.

[0030] Furthermore, the material handling assembly 540 includes a mounting base 541, a first parallel mechanical clamp 542, and a first gripper 543. The mounting base 541 is connected to the slide of the second linear guide rail 530; the first parallel mechanical clamp 542 is disposed on the mounting base 541; and the first gripper 543 is disposed at the output end of the first parallel mechanical clamp 542. Therefore, after the mounting base 541 moves to the material handling or dispensing position, the first parallel mechanical clamp 542 drives the first gripper 543 to perform a clamping or releasing action.

[0031] In one embodiment, the material handling component 540 specifically includes a suction cup 544, which is disposed on the gripping end side surface of the first gripper 543. When the material handling component 540 handles the glass sheet at the output end of the first conveying mechanism 200, the material handling component 540 uses the suction cup 544 at the end of the first gripper 543 to pick up the glass sheet, thereby avoiding insufficient gripping stability and easy breakage caused by the first gripper 543 holding the glass.

[0032] Furthermore, the automatic glass unloading equipment also includes a detection mechanism 700, which is mounted on the bracket 510 corresponding to the third conveying mechanism 400, and the information acquisition end of the detection mechanism 700 is positioned facing the third conveying mechanism 400. When the material handling component 540 places a preset number of glass sheets into the material support structure 600 located on the third conveying mechanism 400, the third conveying mechanism 400 drives the material support structure 600 to be conveyed to the bottom of the detection mechanism 700. The detection mechanism 700 performs visual inspection on the placement of the glass sheets in the material support structure 600. If the preset requirements are met, the third conveying mechanism 400 continues to convey the glass; otherwise, it stops or returns the material support structure 600 to the material handling component 540 to continue the unloading operation.

[0033] In one embodiment, specifically, the inspection agency 700 uses an industrial camera to inspect the glass sheet unloading process.

[0034] In one embodiment, the detection mechanism 700 specifically includes a camera module 710, a third linear guide rail 720, and a fourth linear guide rail 730. The third linear guide rail 720 is parallel to the base plate 100 and is disposed on the top of the bracket 510; the fourth linear guide rail 730 is perpendicular to the base plate 100 and is disposed on the slide of the third linear guide rail 720; the camera module 710 is disposed on the slide of the fourth linear guide rail 730, thereby realizing the dual-axis movement of the camera module 710 so that the camera module 710 can be adjusted in conjunction with the third conveying mechanism 400.

[0035] In one embodiment, the automatic glass unloading device further includes a fourth conveying mechanism 800 and a transfer mechanism 900. The fourth conveying mechanism 800 is disposed adjacent to the third conveying mechanism 400; the transfer mechanism 900 is disposed on the slide of the third linear guide 720, and the picking end of the transfer mechanism 900 corresponds to the output end of the third conveying mechanism 400 and the input end of the fourth conveying mechanism 800, respectively. Based on the addition of the fourth conveying mechanism 800 and the transfer mechanism 900, the third conveying mechanism 400 serves as a transfer module to cooperate with the detection mechanism 700 in detecting the glass sheet placement status of the material support structure 600. The material support structure 600, having completed glass sheet reception and passed the detection, is transferred to the fourth conveying mechanism 800 via the transfer mechanism 900 for subsequent output.

[0036] In the above embodiments, specifically, the transfer mechanism 900 includes a lifting assembly 910, a second horizontal mechanical clamp 920, and a second gripper 930. The lifting assembly 910 is disposed on the slide of the third linear guide 720; the second horizontal mechanical clamp 920 is disposed at the output end of the lifting assembly 910; and the second gripper 930 is disposed at the output end of the second horizontal mechanical clamp 920.

[0037] In one embodiment, the first conveying mechanism 200, the third conveying mechanism 400, and the fourth conveying mechanism 800 are all configured as linear guides, and the second conveying mechanism 300 is configured as a roller conveyor line to meet actual conveying requirements.

[0038] In summary, the automatic glass unloading device disclosed in this utility model conveys the material support structure to the output end of the second conveying mechanism. The material unloading mechanism's picking end clamps the material support structure to the input end of the third conveying mechanism. Then, the unloading mechanism obtains the glass sheet to be unloaded from the output end of the first conveying mechanism and places it into the material support structure. Finally, the glass sheet is conveyed to the unloading end through the third conveying mechanism along with the material support structure, thereby completing the glass unloading process. The material support structure includes a pallet and several guide posts. The pallet can be matched with the picking ends of the second conveying mechanism, the third conveying mechanism, and the unloading mechanism. The guide posts are arranged in pairs parallel to each other on the top surface of the pallet to match the shape of the glass sheets to be unloaded. This allows the guide posts to guide the glass sheets as they are placed on the pallet surface and to limit their movement, thus maintaining the stability of the glass sheets during transport. At the same time, the guide posts of a preset length can form a stacking space for the glass sheets, thereby enabling the material support structure to support and transport the glass sheets in batches, effectively improving the unloading efficiency of the glass sheets, while reducing displacement and collision between stacked glass sheets and preventing damage to the glass sheets.

[0039] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above 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.

[0040] The embodiments described above are merely illustrative of several implementations of this utility model, and 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 those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. An automatic glass unloading device, characterized in that, The glass automatic unloading device comprises a base plate, a first conveying mechanism, a second conveying mechanism, a third conveying mechanism, and a glass unloading mechanism; the first conveying mechanism, the second conveying mechanism, the third conveying mechanism, and the glass unloading mechanism are all installed on the surface of the base plate, wherein the glass unloading mechanism is arranged on the top side of the base plate, the first conveying mechanism is arranged on one side of the glass unloading mechanism, the second conveying mechanism and the third conveying mechanism are arranged on the other side of the glass unloading mechanism opposite to the first conveying mechanism, and the material taking end of the glass unloading mechanism is correspondingly matched with the output end of the first conveying mechanism, the output end of the second conveying mechanism, and the input end of the third conveying mechanism. The glass automatic unloading device further comprises a material supporting structure correspondingly matched with the second conveying mechanism, the third conveying mechanism, and the glass unloading mechanism. The material supporting structure comprises a supporting plate and a plurality of guide columns; the supporting plate is correspondingly matched with the material taking end of the second conveying mechanism, the third conveying mechanism, and the glass unloading mechanism; and the plurality of guide columns are arranged on the top side surface of the supporting plate. The plurality of guide columns are arranged on the top side surface of the supporting plate in parallel with each other according to the shape of the glass sheet to be unloaded; and a plurality of guide columns with a preset length can form a stacking space for the glass sheet.

2. The glass unloading apparatus of claim 1, wherein, The glass unloading mechanism comprises a support, a first linear guide rail, a second linear guide rail, and a material taking assembly; the support is arranged on the top side of the base plate; the first linear guide rail is arranged on the top of the support in parallel with the base plate; the second linear guide rail is arranged on the sliding table of the first linear guide rail in perpendicular to the base plate; and the material taking assembly is installed on the sliding table of the second linear guide rail.

3. The glass unloading apparatus of claim 2, wherein, The material taking assembly comprises a mounting seat, a first parallel mechanical clamp, and a first clamping jaw; the mounting seat is connected to the sliding table of the second linear guide rail; the first parallel mechanical clamp is arranged on the mounting seat; and the first clamping jaw is arranged on the output end of the first parallel mechanical clamp.

4. The glass unloading apparatus of claim 3, wherein, The material taking assembly comprises a suction cup arranged on the clamping end side surface of the first clamping jaw.

5. The glass unloading apparatus of claim 4, wherein, The glass automatic unloading device further comprises a detection mechanism; the detection mechanism is installed on the support corresponding to the third conveying mechanism, and the information acquisition end of the detection mechanism is arranged towards the third conveying mechanism.

6. The glass unloading apparatus of claim 5, wherein, The detection mechanism adopts an industrial camera to detect the unloading condition of the glass sheet.

7. The glass unloading apparatus of claim 6, wherein, The detection mechanism comprises a camera module, a third linear guide rail, and a fourth linear guide rail; the third linear guide rail is arranged on the top of the support in parallel with the base plate; the fourth linear guide rail is arranged on the sliding table of the third linear guide rail in perpendicular to the base plate; and the camera module is arranged on the sliding table of the fourth linear guide rail.

8. The glass unloading apparatus of claim 7, wherein, The glass automatic unloading device further comprises a fourth conveying mechanism arranged on the adjacent side of the third conveying mechanism, and a transfer mechanism arranged on the sliding table of the third linear guide rail, and the material taking end of the transfer mechanism is correspondingly matched with the output end of the third conveying mechanism and the input end of the fourth conveying mechanism.

9. The glass unloading apparatus of claim 8, wherein, The transfer mechanism comprises a lifting assembly, a second horizontal mechanical clamp, and a second clamping jaw; the lifting assembly is arranged on the sliding table of the third linear guide rail; the second horizontal mechanical clamp is arranged on the output end of the lifting assembly; and the second clamping jaw is arranged on the output end of the second horizontal mechanical clamp.

10. The glass unloading apparatus of claim 9, wherein, ​

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