Glass particle breaking device

Abstract

The utility model relates to the technical field of glass processing, in particular to a glass granule breaking device which comprises a granule breaking rack, a first granule breaking conveying manipulator, a granule breaking mechanism, a material conveying manipulator and a material collecting table. According to the utility model, a closed-loop assembly line is formed through the layout design of feeding of the first grain breaking conveying manipulator, processing of the grain breaking mechanism, transfer of the material conveying manipulator and temporary storage of the material collecting table. Manual transfer is completely replaced, and the problem of procedure breakage is solved; through cooperative control of the multiple manipulators and the granule breaking mechanism, the positioning precision of glass granule segmentation and transmission is ensured; continuous production is achieved through multi-manipulator staged operation, efficiency is improved, and the defective rate is reduced.

Description

Technical Field

[0001] This utility model relates to the field of glass processing technology, and in particular to a glass breaking device. Background Technology

[0002] In the field of glass particle preparation, traditional glass breaking equipment generally suffers from technical bottlenecks due to the disconnect between processes. Existing equipment mostly adopts an operation mode of single robotic arm combined with manual transfer. Its drawback is that there is a physical interval between the glass sheet transfer and breaking process, requiring manual intervention to transfer the long strips of semi-finished glass. This results in low production efficiency and safety hazards. At the same time, manual intervention in transferring the long strips of semi-finished glass leads to insufficient positioning accuracy. The pre-cut glass sheet is prone to millimeter-level offset during secondary positioning, causing the breaking position to deviate from the preset cutting line and increasing the defect rate. Therefore, it is necessary to improve it. Utility Model Content

[0003] The purpose of this invention is to address the shortcomings of existing technologies by providing a glass pelletizing device. This device features a closed-loop production line design, consisting of a first pelletizing conveyor robot for loading, a pelletizing mechanism for processing, a transfer robot for transfer, and a collection platform for temporary storage. It completely replaces manual transfer, solving the problem of process interruptions. Through the coordinated control of multiple robots and the pelletizing mechanism, the positioning accuracy of glass pellet segmentation and transfer is ensured. The multi-robot phased operation enables continuous production, improving efficiency and reducing the defect rate.

[0004] To achieve the above objectives, the present invention provides a glass pelletizing device, comprising a pelletizing frame, a first pelletizing conveying robot, a pelletizing mechanism, a second pelletizing conveying robot, a collection table, and a third pelletizing conveying robot.

[0005] The first pelletizing conveying robot is located on the upper side of the pelletizing machine frame and is used to convey long strips of glass.

[0006] The glass breaking mechanism is used for fixed-length conveying and breaking long strips of glass into glass particles;

[0007] The second pelletizing conveyor, the collection platform, and the third pelletizing conveyor are all located on the other side of the pelletizing frame. The second pelletizing conveyor is used to convey glass pellets to the collection platform, and the third pelletizing conveyor is used to convey glass pellets to the next process.

[0008] Preferably, the first pellet-breaking conveying robot includes a B1Y-axis driver, a B1X-axis driver, a B1Z-axis driver, a B1 rotary seat driver, a B1 telescopic driver, and a B1 strip-shaped negative pressure suction plate.

[0009] The B1Y axis driver is fixed to the frame and is used to drive the B1X axis driver to move along the Y axis of the pelletizing frame.

[0010] The B1X-axis driver is used to drive the B1Z-axis driver to move along the X-axis of the pelletizing frame.

[0011] The B1 Z-axis driver is used to drive the B1 rotary driver to move up and down along the Z-axis of the pelletizing frame;

[0012] The B1 rotary driver is used to drive the B1 rotary seat to rotate;

[0013] The B1 telescopic driver is fixed to the B1 rotating seat and is used to drive the B1 strip-shaped negative pressure suction plate to extend and retract.

[0014] Preferably, the pellet breaking mechanism includes a pellet breaking and conveying assembly, a pellet breaking table, a pressing assembly, and a top-feeding assembly;

[0015] The break-up table is used to support and fix long strips of glass.

[0016] The breaking and conveying assembly is used to convey long strips of glass to the breaking table at a fixed length, and the part of the long strip of glass that needs to be broken extends out of the breaking table and is located directly above the top material assembly;

[0017] The pressing assembly is used to press the connection between the long glass strip and the part that needs to be broken off.

[0018] The top-mounting assembly is used to lift the part that needs to be broken off and separate it from the long glass strip.

[0019] Preferably, the pellet conveying assembly includes a conveying platform, a horizontal driver, a vertical driver, and a conveying plate;

[0020] The conveying platform is provided with a conveying groove, and the long glass strip spans the conveying groove and is placed on the conveying platform;

[0021] The horizontal driver is positioned directly below the conveying trough and is used to drive the vertical driver to move a fixed length along the conveying trough;

[0022] The vertical drive drives the conveyor plate to move up and down.

[0023] Preferably, the conveyor platform includes a first platform, a second platform, and a transverse drive;

[0024] There are two second supports and two transverse actuators. The two second supports are stacked on top of the first support for temporarily storing long strips of glass and are slidably connected to the first support.

[0025] The two transverse actuators are fixed to the first support and are used to drive the two second supports closer to or further away from the conveying trough, respectively.

[0026] The pelletizing platform is arranged parallel to one side of the first support platform, and a first negative pressure solidification trough is provided on the pelletizing platform.

[0027] Preferably, the pressing assembly includes a fixed material rack, a sliding pressing rack, a pressing head, and a pressing driver;

[0028] The fixed material rack is disposed on the pelletizing table;

[0029] The sliding pressure frame is slidably connected to the fixed frame;

[0030] The material pressing driver is fixed to the fixed material frame and is used to drive the sliding material pressing frame to slide and move up and down along the fixed material frame;

[0031] The pressing head is located at the bottom of the sliding pressing frame and slides up and down with the sliding pressing frame.

[0032] Preferably, the top material assembly includes a top material plate, a transmission cam, and a top material driver;

[0033] The top feed driver is fixed to one side of the pelletizing table and drives the transmission cam to rotate;

[0034] One end of the top plate is hinged to the pelletizing table, and the other end of the top plate abuts against the transmission cam;

[0035] The top surface of the top material plate is provided with a second negative pressure material consolidation tank.

[0036] Preferably, the material handling robot includes a second pelletizing robot and a third pelletizing robot. The second pelletizing robot is used to transport glass pellets to the collection platform, and the third pelletizing robot is used to transport glass pellets to the next process. The pelletizing frame is provided with a synchronous driver for simultaneously driving the second and third pelletizing robots to move closer to or away from the collection platform. The synchronous driver is provided with a first sliding beam and a second sliding beam, and the collection platform is disposed between the first and second sliding beams.

[0037] The second pellet-breaking conveying robot is fixed to the first sliding crossbeam, and the third pellet-breaking conveying robot is disposed on the second sliding crossbeam.

[0038] Preferably, the second pellet-breaking conveying robot includes a B2 mounting frame, a B2 Z-axis driver, a B2 drive frame, a B2 bidirectional driver, two B2 displacement frames, two B2 rotary drivers, two B2 rotary seats, and multiple B2 negative pressure suction heads.

[0039] The B2 mounting bracket is fixed to the first sliding crossbeam;

[0040] The B2Z axis driver is fixed to the B2 mounting bracket and is used to drive the B2 drive bracket to move vertically up and down along the B2 mounting bracket;

[0041] The B2 bidirectional driver simultaneously drives the two B2 displacement frames to move closer or further apart from each other;

[0042] Two B2 displacement frames, two B2 rotary actuators, and two B2 rotary seats are respectively arranged in a corresponding manner. The B2 rotary actuators are fixed to the B2 displacement frames and are used to drive the B2 rotary seats to rotate.

[0043] Multiple B2 negative pressure suction heads are respectively disposed on two B2 rotating seats.

[0044] Preferably, the third pellet-breaking and conveying robot includes a B3 X-axis driver, a B3 drive frame, a B3 Z-axis driver, a B3 slider, and a B3 negative pressure suction head.

[0045] The B3X-axis driver is fixed to the second sliding beam and is used to drive the B3 drive frame to move along the length direction of the second sliding beam.

[0046] The B3Z axis driver is fixed to the B3 drive frame and is used to drive the B3 slider to move vertically up and down with the B3 drive frame;

[0047] The B3 negative pressure suction head is fixed to the B3 sliding member and is used to adsorb glass particles.

[0048] The beneficial effects of this utility model are as follows: This utility model forms a closed-loop production line through the layout design of the first pelletizing conveyor robot for feeding, pelletizing mechanism for processing, transfer robot for transfer, and temporary storage on the collection table. It completely replaces manual transfer and solves the problem of process interruption; through the coordinated control of multiple robots and the pelletizing mechanism, the positioning accuracy of glass pellet segmentation and transfer is ensured; the multi-robot staged operation realizes continuous production, improving efficiency and reducing the defect rate. Attached Figure Description

[0049] Figure 1 This is a schematic diagram of the structure of this utility model.

[0050] Figure 2 This is a schematic diagram of the structure of the first pellet-breaking conveying robot of this utility model.

[0051] Figure 3 This is a schematic diagram of the pellet-breaking mechanism of this utility model.

[0052] Figure 4 This is a schematic diagram of the structure of the pellet-breaking conveying assembly, pellet-breaking table, and top-feeding assembly of this utility model.

[0053] Figure 5This is a schematic diagram of the material pressing assembly of this utility model.

[0054] Figure 6 This is a schematic diagram of the structure of the pelletizing machine frame, the collecting platform, the second pelletizing conveying robot, and the third pelletizing conveying robot of this utility model.

[0055] Figure 7 This is a schematic diagram of the structure of the second pellet-breaking conveying robot of this utility model.

[0056] Figure 8 This is a schematic diagram of the structure of the third pellet-breaking conveying robot of this utility model.

[0057] The reference numerals in the figures include:

[0058] 1. Pelletizer frame; 11. Synchronous drive; 12. First sliding crossbeam; 13. Second sliding crossbeam;

[0059] 2. First pellet-breaking conveyor robot; 21. B1 Y-axis driver; 22. B1 X-axis driver; 23. B1 Z-axis driver; 24. B1 rotary seat driver; 25. B1 rotary seat; 26. B1 telescopic driver; 27. B1 strip-shaped negative pressure suction plate;

[0060] 3. Pelletizing mechanism; 31. Pelletizing conveying assembly; 311. Conveying platform; 3101. Conveying trough; 3111. First platform; 3112. Second platform; 3113. Lateral driver; 312. Horizontal driver; 313. Vertical driver; 314. Conveying plate; 32. Pelletizing table; 321. First negative pressure material trough; 33. Pressing assembly; 331. Fixed material rack; 3311. Fine-tuning driver; 332. Sliding pressing rack; 333. Pressing head; 3331. Pressing rod; 3332. Pressing needle; 3333. Buffer spring; 3334. Sliding shaft; 334. Pressing driver; 34. Top assembly; 341. Top plate; 3411. Second negative pressure material trough; 3412. Abutting element; 3413. Roller; 342. Transmission cam; 343. Top driver; 344. Reset elastic element;

[0061] 4. Second pellet-breaking conveyor robot; 41. B2 mounting bracket; 42. B2 Z-axis driver; 43. B2 drive frame; 44. B2 bidirectional driver; 45. B2 displacement frame; 46. B2 rotary driver; 47. B2 rotary seat; 48. B2 negative pressure suction head;

[0062] 5. Material collection platform;

[0063] 6. Third pellet-breaking conveyor robot; 61. B3 X-axis driver; 62. B3 drive frame; 63. B3 Z-axis driver; 64. B3 sliding component; 65. B3 negative pressure suction head; 66. Connecting component. Detailed Implementation

[0064] The present invention will now be described in detail with reference to the accompanying drawings.

[0065] like Figures 1 to 8 As shown, a glass pelletizing device of the present invention includes a pelletizing frame 1, a first pelletizing conveying robot 2, a pelletizing mechanism 3, a material conveying robot, and a material collection platform 5.

[0066] The first pelletizing conveyor 2 is located on the upper side of the pelletizing frame 1 and is used to convey long strips of glass.

[0067] The glass pelletizing mechanism 3 is used for fixed-length conveying and breaking long strips of glass into glass pellets;

[0068] The material transfer robot and the collection platform 5 are both located on the other side of the pelletizer frame 1. The material transfer robot is used to transfer glass pellets to the collection platform 5, so that the glass pellets can be transferred to the next process.

[0069] Specifically, the first glass-breaking and conveying robot 2 is located on the upper side of the frame, directly connecting to the output end of the previous process. This eliminates the need for manual transfer of long glass strips, improving transmission efficiency and avoiding safety risks.

[0070] The glass pelletizing mechanism 3 controls the movement distance of the glass sheet through a fixed-length conveying process, forming glass pellets in conjunction with the breaking action. This achieves automated fixed-length segmentation, reduces manual positioning errors, and lowers the defect rate.

[0071] The material transfer robot is located on the same side as the glass pellet breaking mechanism 3. The material transfer robot picks up the broken glass pellets and transfers them to the collection table 5. This prevents the glass pellets from accumulating on the other side of the frame and ensures process continuity and positioning consistency.

[0072] The collecting platform 5 serves as a temporary storage and positioning platform for glass particles. It provides a stable pick-up position for conveying glass particles to the next process, preventing transmission deviations caused by scattered glass particles.

[0073] In operation, the first glass-breaking conveyor robot 2 connects to the output of the previous process, conveying long glass strips to the glass-breaking mechanism 3. The glass-breaking mechanism 3 conveys and breaks the long glass strips into glass particles at a fixed length. The material transfer robot then picks up the broken glass particles and places them on the collection table 5 for easy transport to the next process. This layout, with the first glass-breaking conveyor robot 2 feeding, the glass-breaking mechanism 3 processing, the material transfer robot transferring, and the collection table 5 temporarily storing, forms a closed-loop production line. It completely replaces manual transfer, solving the problem of process interruption; the coordinated control of multiple robots and the glass-breaking mechanism 3 ensures the positioning accuracy of glass particle segmentation and transport; and the multi-robot phased operation enables continuous production, improving efficiency and reducing the defect rate.

[0074] like Figure 2As shown, the first pellet-breaking and conveying robot 2 in this embodiment includes a B1Y-axis driver 21, a B1X-axis driver 22, a B1Z-axis driver 23, a B1 rotary seat driver 24, a B1 rotating seat 25, a B1 telescopic driver 26, and a B1 strip-shaped negative pressure suction plate 27.

[0075] B1Y-axis driver 21 is fixed to the frame and is used to drive B1X-axis driver 22 to move along the Y-axis of pelletizing frame 1.

[0076] B1X-axis driver 22 is used to drive B1Z-axis driver 23 to move along the X-axis of pellet mill frame 1;

[0077] B1Z-axis driver 23 is used to drive B1 rotary driver 24 to move up and down along the Z-axis of pellet mill frame 1;

[0078] B1 rotary driver 24 is used to drive B1 rotary seat 25 to rotate;

[0079] The B1 telescopic actuator 26 is fixed to the B1 rotary seat 25 and is used to drive the B1 strip-shaped negative pressure suction tray 27 to extend and retract.

[0080] Specifically, the B1Y axis driver 21 is fixed to the pelletizing frame 1 and drives the B1X axis driver 22 to move along the Y axis of the pelletizing frame 1, so as to realize the full range coverage of the first pelletizing conveying robot 2 in the longitudinal direction (Y axis) of the pelletizing frame 1, and adapt to the feeding requirements of glass sheets of different sizes.

[0081] B1X-axis driver 22 drives B1Z-axis driver 23 to move along the X-axis of the pelletizing frame 1, accurately positioning the glass sheet laterally (X-axis) to match the entry position of the pelletizing mechanism 3 and eliminate manual alignment errors.

[0082] B1Z-axis driver 23 drives B1 rotary driver 24 to move up and down along the Z-axis of the pelletizer frame 1, vertically (Z-axis) controlling the suction height to adapt to the gripping of glass sheets of different thicknesses and avoid the risk of collision.

[0083] The B1 rotary driver 24 drives the B1 rotary seat 25 to rotate, adjusting the horizontal angle of the B1 strip-shaped negative pressure suction plate 27 to ensure that the long glass strip is precisely aligned with the conveying direction of the pelletizing mechanism 3.

[0084] The B1 rotary seat 25 is driven by the B1 rotary seat driver 24, providing rotational freedom. This eliminates angular deviations during glass sheet gripping and prevents positional offsets in subsequent breaking processes.

[0085] The B1 telescopic actuator 26 is fixed to the B1 rotating base 25, driving the B1 strip-shaped negative pressure suction tray 27 to extend and retract. This precisely controls the contact distance between the suction tray and the long glass strip, preventing excessive pressure from causing the glass to shatter.

[0086] The B1 strip-shaped negative pressure suction tray 27 uses negative pressure to adsorb the surface of a long glass strip. The adsorption force is evenly distributed, ensuring that the long glass strip does not slip or shift during transport.

[0087] Through the three-dimensional linear positioning of B1Y-axis driver 21, B1X-axis driver 22 and B1Z-axis driver 23, the rotation angle adjustment of B1 rotary driver 24 and the precise extension and retraction control of B1 telescopic driver 26, a multi-degree-of-freedom robotic arm system is formed to realize the fully automatic gripping, positioning and transmission of long glass sheets.

[0088] Among them, the B1Y axis driver 21, B1X axis driver 22 and B1Z axis driver 23 are conventional linear drive modules, conventional linear motors or conventional synchronous belt drive systems, which are servo motors in conjunction with ball screws. In this embodiment, the B1Y axis driver 21, B1X axis driver 22 and B1Z axis driver 23 are all examples of conventional linear motors.

[0089] The B1 rotary driver 24 is a conventional drive module consisting of a stepper motor and a worm gear reducer, a conventional servo rotary platform, or a conventional pneumatic rotary cylinder. In this embodiment, the B1 rotary driver 24 is used as an example of a servo rotary platform.

[0090] The B1 telescopic actuator 26 can be a conventional electric actuator, a conventional pneumatic cylinder, or a conventional linear motor. In this embodiment, the B1 telescopic actuator 26 is used as an example of a conventional pneumatic cylinder.

[0091] like Figures 3 to 5 As shown, the pellet breaking mechanism 3 in this embodiment includes a pellet breaking and conveying assembly 31, a pellet breaking table 32, a pressing assembly 33, and a top-feeding assembly 34;

[0092] The breaker table 32 is used to support and fix long strips of glass;

[0093] The glass breaking and conveying assembly 31 is used to convey long strips of glass to the glass breaking table 32 at a fixed length, and the part of the long strip of glass that needs to be broken extends out of the glass breaking table 32 and is located directly above the top material assembly 34;

[0094] The pressing assembly 33 is used to press the connection between the long strip of glass and the part that needs to be broken off;

[0095] The top assembly 34 is used to lift the part that needs to be broken off and separate it from the long glass strip.

[0096] Specifically, the long glass strips are conveyed to the breaking table 32 by the breaking conveyor assembly 31, realizing the directional transmission of the long glass strips, replacing manual handling, improving production efficiency, eliminating handling safety hazards, and reducing labor costs.

[0097] The breaking table 32 is a fixed support platform. Together with the breaking conveyor assembly 31, it conveys the glass sheet to a fixed length, ensuring precise and controllable positioning of the section to be broken. This prevents misalignment at the connection point between the long glass sheet and the section to be broken, improving product dimensional accuracy and reducing scrap rates caused by inaccurate breaking positions.

[0098] The pressure assembly 33 applies uniform pressure to the connection between the long glass strip and the part to be broken, ensuring that the glass strip remains stable during the breaking process and preventing edge chipping or cracking caused by uneven stress.

[0099] The lifting mechanism applies an upward force to the section to be broken, precisely severing the connection between the long glass strip and the section to be broken. This avoids the impact stress caused by mechanical stamping, reducing the risk of glass chipping. It achieves rapid and stable separation, improving production efficiency.

[0100] During operation, the glass breaking and conveying assembly 31 conveys long strips of glass to the breaking table 32 at a fixed length. The part of the long strip of glass that needs to be broken extends out of the breaking table 32 and is located directly above the top material assembly 34. The breaking table 32 supports and fixes the long strip of glass. The pressing assembly 33 presses the connection between the long strip of glass and the part that needs to be broken. The top material assembly 34 lifts up the part that needs to be broken, and the part that needs to be broken separates from the long strip of glass. This efficiently completes the glass breaking operation, and the breaking position is accurate, avoiding problems such as glass edge breakage due to uneven stress and product size deviation due to the breaking position offset.

[0101] like Figure 4 As shown, the pellet conveying assembly 31 in this embodiment includes a conveying platform 311, a horizontal driver 312, a vertical driver 313, and a conveying plate 314.

[0102] A conveying trough 3101 is provided through the conveying platform 311, and a long strip of glass is placed across the conveying trough 3101 on the conveying platform 311.

[0103] The horizontal driver 312 is positioned directly below the conveying trough 3101 and is used to drive the vertical driver 313 to move a fixed length along the conveying trough 3101.

[0104] The vertical drive 313 drives the conveyor plate 314 to rise and fall.

[0105] Specifically, a long strip of glass is placed across the conveying trough 3101 and onto the conveying platform 311, so that the vertical driver 313 can drive the conveying plate 314 to rise and lift the long strip of glass, or drive the vertical driver 313 to drive the conveying plate 314 to descend and place the long strip of glass onto the conveying platform 311.

[0106] The horizontal driver 312 drives the vertical driver 313 to move a fixed length along the conveying trough 3101, and in conjunction with the vertical driver 313, drives the conveying plate 314 to rise or fall, so as to realize the fixed-length conveying of long glass sheets.

[0107] Specifically, the vertical driver 313 drives the conveyor plate 314 to rise and lift the long glass strip, the horizontal driver 312 drives the vertical driver 313 to move a fixed length along the conveyor groove 3101, and after the horizontal driver 312 and the vertical driver 313 reach the preset position, the vertical driver 313 drives the conveyor plate 314 to fall and place the long glass strip on the conveyor platform 311. The conveyor plate 314 separates from the long glass strip, and the horizontal driver 312 drives the vertical driver 313 to reset along the conveyor groove 3101. This process is repeated to achieve fixed-length conveying of the long glass strip.

[0108] The horizontal driver 312 is a conventional synchronous belt linear motion module or a linear motor drive module. In this embodiment, the horizontal driver 312 is used as an example of a conventional linear motor drive module.

[0109] The vertical actuator 313 can be a conventional cylinder drive module, electric actuator module, servo electric cylinder module or linear motor module. In this embodiment, the vertical actuator 313 is used as an example of a conventional servo electric cylinder module.

[0110] like Figure 4 As shown, the conveyor platform 311 in this embodiment includes a first platform 3111, a second platform 3112, and a transverse drive 3113;

[0111] There are two second support platforms 3112 and two horizontal actuators 3113. The two second support platforms 3112 are stacked on top of the first support platform 3111 for temporarily storing long strips of glass and are slidably connected to the first support platform 3111.

[0112] Two transverse drives 3113 are fixed to the first support 3111 and are used to drive the two second supports 3112 to move closer to or away from the conveying trough 3101, respectively.

[0113] Specifically, the first platform 3111 serves as the fixed base for the entire conveying platform 311, providing a platform for storing long strips of glass, and also providing an installation reference surface for the second platform 3112 and the transverse drive 3113.

[0114] The second platform 3112 temporarily stores long strips of glass, giving the conveying platform 311 the dual functions of conveying and preparing materials. The second platform 3112 is slidably connected to the first platform 3111 through a precision sliding pair, reducing the coefficient of friction.

[0115] The transverse drive 3113 achieves precise displacement through ball screw or rack and pinion transmission, precisely controlling the two second supports 3112 to move closer to or further away from the conveying trough 3101.

[0116] In use, after the vertical actuator 313 lifts the long glass strip placed on the second support 3112 via the conveyor plate 314, the two horizontal actuators 3113 drive the two second supports 3112 away from the conveyor trough 3101, so that the vertical actuator 313 can descend to place the long glass strip on the first support 3111; after the long glass strip is placed on the first support 3111, the two horizontal actuators 3113 drive the two second supports 3112 closer to the conveyor trough 3101, so that the long glass strip can be temporarily stored again.

[0117] Preferably, the second support platform 3112 is provided with a positioning edge (not shown) or a positioning block (not shown), which positions the temporarily stored long glass strips, making the fixed-length conveying of the long glass strips more accurate.

[0118] like Figure 4 As shown, in this embodiment, the pelletizing table 32 is arranged parallel to one side of the first support platform 3111, and the pelletizing table 32 is provided with a first negative pressure solidification trough 321.

[0119] Specifically, the parallel layout of the breaking platform 32 and the first support platform 3111 ensures that the working surfaces of the two platforms are at the same height, forming a continuous conveying plane. This allows for a smooth transition of the long glass strips, achieving a seamless connection from conveying to breaking.

[0120] The first negative pressure solidification tank 321 is equipped with a negative pressure adsorption hole array, which is connected to a vacuum generation system to fix the long glass sheet by negative pressure adsorption.

[0121] like Figure 5 As shown, the pressing assembly 33 in this embodiment includes a fixed material rack 331, a sliding pressing rack 332, a pressing head 333, and a pressing driver 334;

[0122] The fixed material rack 331 is installed on the pelletizing table 32;

[0123] The sliding pressure frame 332 is vertically and slidably connected to the fixed frame 331;

[0124] The pressure drive 334 is fixed to the fixed material rack 331 and is used to drive the sliding pressure rack 332 to slide and rise along the fixed material rack 331;

[0125] The pressing head 333 is located at the bottom of the sliding pressing frame 332 and slides up and down with the sliding pressing frame 332.

[0126] Specifically, the fixed material rack 331 serves as a basic support structure, rigidly connected to the pelletizing table 32, providing an installation reference for the sliding pressing rack 332. This ensures the overall stability of the pressing system and avoids vibration interference.

[0127] The sliding pressing frame 332 and the fixed frame 331 are vertically slidably connected to realize the lifting and lowering movement of the pressing head 333. This ensures the verticality of the movement trajectory of the pressing head 333 and avoids pressing deviation.

[0128] The pressing driver 334 is fixed to the fixed material rack 331, drives the sliding pressing rack 332 to rise and fall, and controls the start, stop and force of the pressing action.

[0129] The pressure head 333 is installed at the bottom of the sliding pressure frame 332, directly contacting the connection between the long strip of glass and the part to be broken and applying uniform pressure.

[0130] like Figure 5 As shown, the fixed material rack 331 in this embodiment is also provided with a fine-tuning driver 3311. The fixed material rack 331 is slidably connected to the pellet breaking table 32 in parallel. The fine-tuning driver 3311 is fixed to the pellet breaking table 32 and is used to drive the fixed material rack 331 to slide parallel to the pellet breaking table 32.

[0131] Specifically, the fixed material rack 331 is horizontally slidably connected to the pelletizing table 32 via a precision sliding pair, enabling lateral fine-tuning of the overall position of the pressing assembly 33. This eliminates pressing position offsets caused by equipment installation errors or glass size deviations; it adapts to the processing needs of glass sheets of different specifications, improving the equipment's versatility.

[0132] The fine-tuning driver 3311 is fixed to the pelletizing table 32 and drives the fixed material rack 331 to slide laterally through a high-precision transmission mechanism (such as a ball screw or gear rack) to achieve stepless adjustment of the pressing position.

[0133] like Figure 5 As shown, the pressing head 333 in this embodiment includes a pressing rod 3331 and a pressing needle 3332;

[0134] Both ends of the pressure rod 3331 are provided with buffer springs 3333 and sliding shafts 3334. The pressure rod 3331 is slidably connected to the sliding pressure frame 332 through the sliding shaft 3334. The buffer springs 3333 are sleeved on the sliding shaft 3334 and abut against the pressure rod 3331 and the sliding pressure frame 332.

[0135] The pressing needle 3332 is disposed at one end of the pressing rod 3331 facing the pelletizing table 32. Preferably, the pressing needle 3332 is made of an elastic material, such as one of polyurethane, thermoplastic elastomer, fluororubber, silicone rubber, natural rubber or neoprene rubber.

[0136] Specifically, the pressure rod 3331 is slidably connected to the sliding pressure frame 332 via sliding shafts 3334 at both ends, and a buffer spring 3333 is sleeved on the sliding shaft 3334 to provide elastic cushioning. The buffer spring 3333 absorbs the impact force of the pressure rod, avoiding glass chipping caused by rigid contact (chipping rate ≤0.05%); the sliding shaft 3334 ensures the vertical movement stability of the pressure rod 3331.

[0137] The pressure needle 3332 is fixed to the bottom of the pressure rod 3331, directly contacting the connection between the long glass strip and the part to be broken, and applying local pressure. The needle tip concentrates the pressure on the glass pre-break line at the connection between the long glass strip and the part to be broken, improving the breaking accuracy; in conjunction with the buffer spring 3333, it adapts to the unevenness of the glass surface to prevent cracking.

[0138] like Figure 4 As shown, the top material assembly 34 in this embodiment includes a top material plate 341, a transmission cam 342, and a top material driver 343;

[0139] The top feed driver 343 is fixed to one side of the pelletizing table 32 and drives the transmission cam 342 to rotate;

[0140] One end of the top plate 341 is hinged to the pelletizing table 32, and the other end of the top plate 341 abuts against the transmission cam 342.

[0141] Specifically, one end of the top plate 341 is connected to the pelletizing table 32 via a hinge shaft, forming a rotatable lever structure, while the other end contacts the transmission cam 342. The hinge point limits the radius of rotation, ensuring the stability of the movement trajectory of the top plate 341.

[0142] The top material driver 343 drives the transmission cam 342 to rotate, and the rotational motion is converted into the periodic lifting action of the top material plate 341 through the cam profile.

[0143] The top feed driver 343 is fixed to the side of the pelletizing table 32 and drives the transmission cam 342 to rotate precisely via the power output shaft. The top feed driver 343 is a servo motor.

[0144] like Figure 4 As shown, the top surface of the top plate 341 in this embodiment is provided with a second negative pressure material consolidation groove 3411;

[0145] The bottom of the top plate 341 is provided with an abutment 3412, and the end of the abutment 3412 is provided with a roller 3413, which abuts against the transmission cam 342.

[0146] Specifically, the second negative pressure solidification tank 3411 is set on the top surface of the top plate 341, and the glass sheet that was broken off is fixed by the adsorption force generated by the vacuum system.

[0147] A roller 3413 is provided at the end of the contacting member 3412. Through rolling friction, it contacts the transmission cam 342 and converts the rotational motion of the cam into the lifting and lowering action of the top plate 341.

[0148] Preferably, a reset elastic element 344 is provided between the top plate 341 and the pelletizing table 32. Specifically, a reset elastic element 344 (such as a compression spring or rubber elastic strip) is provided between the top plate 341 and the pelletizing table 32, using elastic deformation to provide a restoring force to drive the top plate 341 to automatically reset. After the top plate action is completed, it can quickly reset without external power, improving the continuity of operation.

[0149] like Figure 6 As shown, the material handling robot in this embodiment includes a second pelletizing robot 4 and a third pelletizing robot 6. The second pelletizing robot 4 is used to transport glass pellets to the collection platform 5, and the third pelletizing robot 6 is used to transport glass pellets to the next process. The pelletizing frame 1 is provided with a synchronous driver 11 for simultaneously driving the second pelletizing robot 4 and the third pelletizing robot 6 to move closer to or away from the collection platform 5. The synchronous driver 11 is provided with a first sliding beam 12 and a second sliding beam 13, and the collection platform 5 is disposed between the first sliding beam 12 and the second sliding beam 13.

[0150] The second pellet-breaking conveyor 4 is fixed to the first sliding crossbeam 12, and the third pellet-breaking conveyor 6 is disposed on the second sliding crossbeam 13.

[0151] Specifically, a single drive source simultaneously controls the synchronous movement of the first sliding beam 12 and the second sliding beam 13, driving the second pellet-breaking conveyor 4 and the third pellet-breaking conveyor 6 to move closer to or away from the collection table 5. This ensures that the relative positions of the two robots and the collection table 5 are strictly synchronized, avoiding positioning deviations caused by independent drives and guaranteeing the coordination of glass pellet gripping and placement.

[0152] The first sliding crossbeam 12 and the second sliding crossbeam 13 are arranged in parallel, with the collection platform 5 located between them, forming a symmetrical layout. The movement path of the robotic arms is optimized to reduce the movement interference of the second pelletizing conveying robotic arm 4 and the third pelletizing conveying robotic arm 6 in the area of ​​the collection platform 5, while shortening the transmission distance of the glass pellets.

[0153] The linear displacement of the first sliding beam 12 drives the second pellet-breaking conveying robot 4 to move as a whole. This achieves precise linear reciprocating motion of the second pellet-breaking conveying robot 4 between the collection table 5 and the pellet-breaking mechanism 3, ensuring the consistency of the glass pellet gripping position.

[0154] The linear displacement of the second sliding beam 13 drives the third pellet-breaking conveyor 6 to move as a whole. This allows the third pellet-breaking conveyor 6 to move away from the collection table 5 to avoid the movement of the second pellet-breaking conveyor 4, while simultaneously quickly approaching the collection table 5 to complete the glass pellet unloading, thus improving the efficiency of process connection.

[0155] The synchronous driver 11 can be a conventional drive module consisting of a dual-output shaft servo motor and a lead screw and nut, a conventional drive module consisting of a synchronous pulley set and a linear guide rail, or a conventional hydraulic synchronous cylinder. In this embodiment, the synchronous driver 11 is used as an example of a conventional drive module consisting of a dual-output shaft servo motor and a lead screw and nut.

[0156] like Figure 7 As shown, the second pellet-breaking conveying robot 4 in this embodiment includes a B2 mounting frame 41, a B2 Z-axis driver 42, a B2 drive frame 43, a B2 bidirectional driver 44, two B2 displacement frames 45, two B2 rotary drivers 46, two B2 rotary seats 47, and multiple B2 negative pressure suction heads 48.

[0157] Mounting bracket 41 B2 is fixed to the first sliding crossbeam 12;

[0158] The B2Z axis driver 42 is fixed to the B2 mounting bracket 41 and is used to drive the B2 drive bracket 43 to move vertically up and down along the B2 mounting bracket 41.

[0159] B2 bidirectional driver 44 simultaneously drives two B2 displacement frames 45 to move closer or further apart from each other;

[0160] Two B2 displacement frames 45, two B2 rotary actuators 46, and two B2 rotary seats 47 are respectively set one-to-one. The B2 rotary actuators 46 are fixed to the B2 displacement frames 45 and are used to drive the B2 rotary seats 47 to rotate.

[0161] Multiple B2 negative pressure suction heads 48 are respectively set on two B2 rotating seats 47.

[0162] Specifically, the B2 mounting bracket 41 is fixed to the first sliding crossbeam 12, serving as the support base for the second pellet-breaking conveying robot 4. This ensures that the second pellet-breaking conveying robot 4 is rigidly connected to the first sliding crossbeam 12, preventing positioning misalignment caused by vibration.

[0163] The B2Z axis driver 42 drives the B2 drive frame 43 to move vertically up and down along the B2 mounting frame 41. Adjust the gripping height of the second pelletizing conveyor 4 to match the height difference between the collection table 5 and the pelletizing mechanism 3 to prevent glass pellets from falling or colliding.

[0164] The B2 drive frame 43 is driven by the B2Z-axis driver 42 and serves as the mounting carrier for the B2 bidirectional driver 44. It transmits vertical lifting motion to subsequent components, forming a multi-stage motion transmission chain.

[0165] The B2 bidirectional actuator 44 simultaneously drives two B2 displacement frames 45 to move closer or further apart. This dynamically adjusts the spacing of the B2 negative pressure suction heads 48 to accommodate the gripping needs of glass particles of different sizes.

[0166] The B2 displacement frame 45 is driven by the B2 bidirectional actuator 44, carrying the B2 rotary actuator 46 and the suction head assembly for lateral movement. This achieves symmetrical expansion and contraction of the suction head assembly, ensuring balanced force during glass particle gripping.

[0167] The B2 rotary driver 46 is fixed to the B2 displacement frame 45, driving the B2 rotary seat 47 to rotate. The horizontal angle of the B2 negative pressure suction head 48 is adjusted to match the tilt of the glass particles on the collection platform 5, avoiding misalignment during adsorption.

[0168] The B2 rotating seat 47 is driven by the B2 rotating actuator 46, providing rotational freedom. This allows the B2 negative pressure suction head 48 to adaptively adjust to the position and orientation of the glass particles, improving the success rate of gripping.

[0169] The B2 negative pressure suction head 48 adsorbs glass particles onto their surface using negative pressure. The multi-head distributed adsorption reduces the risk of glass particle breakage caused by concentrated adsorption forces at a single point.

[0170] The vertical lifting of the B2Z axis driver 42, the lateral spacing adjustment of the B2 bidirectional driver 44, the angle adaptation of the B2 rotary driver 46, and the distributed adsorption of multiple B2 negative pressure suction heads 48 form a three-dimensional dynamic adjustment capability for grasping glass particles.

[0171] The B2Z axis driver 42 is either a conventional drive module consisting of a servo motor and a ball screw, or a conventional drive module consisting of a pneumatic lifting cylinder and a guide shaft. In this embodiment, the B2Z axis driver 42 is used as an example of a conventional drive module consisting of a pneumatic lifting cylinder and a guide shaft.

[0172] The B2 bidirectional driver 44 is a conventional drive module consisting of a dual-head cylinder, a bidirectional ball screw, and a servo motor, or a conventional drive module with symmetrical linear motor drive. In this embodiment, the B2 bidirectional driver 44 is used as an example of a conventional drive module consisting of a bidirectional ball screw and a servo motor.

[0173] The B2 rotary driver 46 is a conventional reducer or a conventional servo rotary platform that uses a stepper motor and a worm gear. In this embodiment, the B2 rotary driver 46 is used as an example of a conventional servo rotary platform.

[0174] like Figure 8 As shown, the third pellet-breaking and conveying robot 6 in this embodiment includes a B3 X-axis driver 61, a B3 drive frame 62, a B3 Z-axis driver 63, a B3 slider 64, and a B3 negative pressure suction head 65.

[0175] The B3X axis driver 61 is fixed to the second sliding crossbeam 13 and is used to drive the B3 drive frame 62 to move along the length direction of the second sliding crossbeam 13.

[0176] The B3Z axis driver 63 is fixed to the B3 drive frame 62 and is used to drive the B3 slider 64 to move vertically up and down with the B3 drive frame 62.

[0177] The B3 negative pressure suction head 65 is fixed to the B3 sliding member 64 and is used to adsorb glass particles.

[0178] Specifically, the B3 X-axis driver 61 is fixed to the second sliding beam 13, driving the B3 drive frame 62 to move linearly along the length of the second sliding beam 13. This enables the third pellet-breaking and conveying robot 6 to cover the entire stroke in the horizontal direction (X-axis), accurately matching the distribution position of the glass pellets on the collection table 5, and avoiding positioning errors caused by manual adjustment.

[0179] The B3 drive frame 62 serves as the mounting base for the B3Z-axis driver 63 and the B3 slider 64, and is driven laterally by the B3X-axis driver 61. It provides a rigid support structure to ensure the stability of the movement of the B3Z-axis driver 63 and the B3 negative pressure suction head 65, and to reduce vibration interference.

[0180] The B3Z-axis driver 63 is fixed to the B3 drive frame 62, driving the B3 sliding member 64 to move vertically up and down with the B3 drive frame 62. It precisely adjusts the gripping height of the B3 negative pressure suction head 65 to match the height difference between the collection platform 5 and the next process equipment, preventing glass particles from falling or being damaged by impact.

[0181] The B3 slider 64 is driven by the B3 Z-axis driver 63, moving linearly along the vertical direction (Z-axis). This maintains the linear accuracy of the vertical lifting and lowering of the B3 negative pressure suction head 65, ensuring consistent vertical alignment of the glass particle gripping and releasing action.

[0182] The B3 negative pressure suction head 65 uses negative pressure to adsorb glass particles onto the surface. It can adsorb glass particles at single or multiple points, avoiding surface scratches or breakage caused by mechanical clamping, thus improving the yield of finished products.

[0183] By coordinating the horizontal positioning of the B3X-axis driver 61 and the vertical lifting control of the B3Z-axis driver 63, a two-dimensional precise positioning capability for grasping glass particles is formed. Combined with the flexible adsorption of the B3 negative pressure suction head 65, after grasping the glass particles from the collection table 5, they are precisely transported to the next process through the compound motion of the B3X-axis driver 61 and the B3Z-axis driver 63. This completely replaces manual handling, compensates for the height difference between the collection table 5 and the downstream equipment, and avoids the collision risk of traditional fixed-height robotic arms.

[0184] Among them, the B3 X-axis driver 61 is a conventional linear module consisting of a servo motor and a ball screw, a conventional synchronous belt drive system, or a conventional linear motor. In this embodiment, the B3 X-axis driver 61 is exemplified by a conventional linear motor.

[0185] The B3 Z-axis driver 63 is a conventional electric push rod, a conventional pneumatic lifting cylinder, or a conventional ball screw module. In this embodiment, the B3 Z-axis driver 63 is exemplified by a conventional pneumatic lifting cylinder.

[0186] Preferably, the B3 slider 64 is provided with a connecting member 66 for fixing the B3 negative pressure suction head 65. The cross-section of the connecting member 66 is in a "ji" shape. Both the connecting member 66 and the B3 negative pressure suction head 65 are provided in multiple numbers. The multiple connecting members 66 are respectively arranged on the B3 slider 64, and the B3 negative pressure suction head 65 is provided at both ends of each connecting member 66.

[0187] Specifically, a plurality of connecting members 66 with a cross-section in a "ji" shape are arranged and installed on the B3 slider 64. The vibration stress during the movement of the manipulator is dispersed through the rigid geometric structure, avoiding the adsorption failure caused by the jitter of the B3 negative pressure suction head 65.

[0188] The "ji" shape cross-section design forms two symmetric support walls and a middle mounting plane. The anti-bending strength of the connecting member 66 is enhanced, enabling it to withstand the deformation amount when bearing the weight of the glass particles during the Z-axis lifting process.

[0189] The B3 negative pressure suction heads 65 are symmetrically arranged at both ends of a single connecting member 66, forming a double adsorption point. Two-point balanced adsorption of a single glass particle is achieved, preventing the tilting or slipping of the glass particle caused by uneven single-point force during the transmission process, and improving the adsorption stability.

[0190] The above content is only the preferred embodiment of the present invention. For those of ordinary skill in the art, based on the idea of the present invention, there will be changes in the specific implementation manner and application scope. The content of this specification should not be construed as a limitation to the present invention.

Claims

1. A glass pelletizing device, characterized in that, It includes a pelletizing frame (1), a first pelletizing conveyor (2), a pelletizing mechanism (3), a material conveying manipulator, and a material collection platform (5); The first pellet-breaking conveying robot (2) is located on the upper side of the pellet-breaking frame (1) for conveying long strips of glass; The glass breaking mechanism (3) is used for fixed-length conveying and breaking long strips of glass to form glass particles; The material transfer robot and the collection platform (5) are both located on the other side of the pelletizer frame (1). The material transfer robot is used to transfer glass pellets to the collection platform (5).

2. The glass pelletizing device according to claim 1, characterized in that, The first pellet conveying robot (2) includes a B1Y axis driver (21), a B1X axis driver (22), a B1Z axis driver (23), a B1 rotary seat driver (24), a B1 rotating seat (25), a B1 telescopic driver (26), and a B1 strip-shaped negative pressure suction plate (27). The B1Y axis driver (21) is fixed to the frame and is used to drive the B1X axis driver (22) to move along the Y axis of the pelletizing frame (1); The B1X-axis driver (22) is used to drive the B1Z-axis driver (23) to move along the X-axis of the pelletizing frame (1); The B1 Z-axis driver (23) is used to drive the B1 rotary driver (24) to move up and down along the Z-axis of the pelletizing frame (1); The B1 rotary driver (24) is used to drive the B1 rotary seat (25) to rotate; The B1 telescopic actuator (26) is fixed to the B1 rotating seat (25) and is used to drive the B1 strip negative pressure suction tray (27) to extend and retract.

3. The glass pelletizing device according to claim 1, characterized in that, The pellet breaking mechanism (3) includes a pellet breaking conveying assembly (31), a pellet breaking table (32), a pressing assembly (33), and a top-feeding assembly (34). The breaker (32) is used to support and fix long strips of glass; The breaking and conveying assembly (31) is used to convey long strips of glass to the breaking table (32) at a fixed length, and the part of the long strip of glass that needs to be broken extends out of the breaking table (32) and is located directly above the top material assembly (34); The pressing assembly (33) is used to press the connection between the long glass strip and the part that needs to be broken off; The top assembly (34) is used to lift the part that needs to be broken off and separate it from the long glass sheet.

4. A glass pelletizing device according to claim 3, characterized in that, The pellet conveying assembly (31) includes a conveying platform (311), a horizontal driver (312), a vertical driver (313), and a conveying plate (314). The conveying platform (311) is provided with a conveying groove (3101) through it, and the long glass strip spans the conveying groove (3101) and is placed on the conveying platform (311); The horizontal actuator (312) is positioned directly below the conveying groove (3101) and is used to drive the vertical actuator (313) to move a fixed distance along the conveying groove (3101). The vertical drive (313) drives the conveyor plate (314) to move up and down.

5. A glass pelletizing device according to claim 4, characterized in that, The conveying platform (311) includes a first platform (3111), a second platform (3112), and a transverse drive (3113). There are two second supports (3112) and two transverse actuators (3113). The two second supports (3112) are stacked on top of the first support (3111) for temporarily storing long strips of glass and are slidably connected to the first support (3111). The two transverse actuators (3113) are fixed to the first support (3111) and are used to drive the two second supports (3112) to move closer to or away from the conveying trough (3101). The pelletizing platform (32) is arranged parallel to one side of the first support platform (3111), and a first negative pressure solidification trough (321) is provided on the pelletizing platform (32).

6. A glass pelletizing device according to claim 3, characterized in that, The pressing assembly (33) includes a fixed material rack (331), a sliding pressing rack (332), a pressing head (333), and a pressing driver (334). The fixed material rack (331) is disposed on the pelletizing table (32); The sliding pressure frame (332) is vertically and slidably connected to the fixed frame (331); The pressure drive (334) is fixed to the fixed material rack (331) and is used to drive the sliding pressure rack (332) to slide and rise along the fixed material rack (331); The pressing head (333) is located at the bottom of the sliding pressing frame (332) and slides up and down with the sliding pressing frame (332).

7. A glass pelletizing device according to claim 3, characterized in that, The top material assembly (34) includes a top material plate (341), a transmission cam (342), and a top material driver (343). The top feed driver (343) is fixed to one side of the pelletizing table (32) and drives the transmission cam (342) to rotate; One end of the top plate (341) is hinged to the pelletizing table (32), and the other end of the top plate (341) abuts against the transmission cam (342); The top surface of the top plate (341) is provided with a second negative pressure solidification groove (3411).

8. A glass pelletizing device according to claim 1, characterized in that, The material handling robot includes a second pellet conveying robot (4) and a third pellet conveying robot (6). The second pellet conveying robot (4) is used to convey glass pellets to the collection table (5), and the third pellet conveying robot (6) is used to convey glass pellets to the next process. The pelletizing frame (1) is equipped with a synchronous driver (11) for simultaneously driving the second pelletizing conveyor (4) and the third pelletizing conveyor (6) to approach or move away from the collection platform (5). The synchronous driver (11) is equipped with a first sliding beam (12) and a second sliding beam (13). The collection platform (5) is located between the first sliding beam (12) and the second sliding beam (13). The second pellet-breaking conveyor (4) is fixed to the first sliding crossbeam (12), and the third pellet-breaking conveyor (6) is disposed on the second sliding crossbeam (13).

9. A glass pelletizing device according to claim 8, characterized in that, The second pellet-breaking conveying robot (4) includes a B2 mounting frame (41), a B2 Z-axis driver (42), a B2 drive frame (43), a B2 bidirectional driver (44), two B2 displacement frames (45), two B2 rotary drivers (46), two B2 rotary seats (47), and multiple B2 negative pressure suction heads (48). The B2 mounting bracket (41) is fixed to the first sliding crossbeam (12); The B2Z axis driver (42) is fixed to the B2 mounting bracket (41) and is used to drive the B2 drive bracket (43) to move vertically up and down along the B2 mounting bracket (41); The B2 bidirectional driver (44) simultaneously drives the two B2 displacement frames (45) to move closer or further apart from each other; Two B2 displacement frames (45), two B2 rotary actuators (46) and two B2 rotary seats (47) are respectively arranged in a corresponding manner. The B2 rotary actuators (46) are fixed to the B2 displacement frames (45) and are used to drive the B2 rotary seats (47) to rotate. Multiple B2 negative pressure suction heads (48) are respectively disposed on two B2 rotating seats (47).

10. A glass pelletizing device according to claim 8, characterized in that, The third pellet-breaking conveying robot (6) includes a B3 X-axis driver (61), a B3 drive frame (62), a B3 Z-axis driver (63), a B3 slider (64), and a B3 negative pressure suction head (65). The B3X-axis driver (61) is fixed to the second sliding beam (13) and is used to drive the B3 drive frame (62) to move along the length direction of the second sliding beam (13); The B3Z axis driver (63) is fixed to the B3 drive frame (62) and is used to drive the B3 slider (64) to move vertically up and down with the B3 drive frame (62); The B3 negative pressure suction head (65) is fixed to the B3 sliding member (64) and is used to adsorb glass particles.

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