An automated glass transfer device with stacking function

Abstract

This utility model proposes an automated glass component transfer device with stacking function, belonging to the field of glass component transfer and stacking technology. It includes a conveyor belt, separating rubber strips, a positioning component, a first six-degree-of-freedom robotic arm, parallel grippers, connecting rods, a tray, a second six-degree-of-freedom robotic arm, a vacuum adsorption component, and a placement plate. This device eliminates the need for manual transfer and placement of inspected glass components onto the tray and manual addition of placement plates to achieve multi-layer separation. It can automatically grip and transfer multiple glass components at once, neatly stacking them on the tray. Furthermore, after one layer of glass components is stacked, placement plates can be automatically and accurately added, significantly improving the automation level of the glass component transfer and stacking process while effectively reducing the labor intensity of manual operation.

Description

Technical Field

[0001] This utility model relates to the field of glass component transfer and stacking technology, and more specifically, to an automated glass component transfer device with stacking function. Background Technology

[0002] A device used to support and insulate conductors is called an insulator. If this insulator is made of glass, it is called a glass insulator; the most widely used type in power lines is the tempered glass insulator.

[0003] Glass insulators consist of glass components, which are formed by pressing in a mold under high temperature. After pressing, the glass components undergo tempering, screening, and quality inspection before being stacked. Currently, the stacking of glass components requires manual placement onto a pallet, and a placement plate needs to be added between adjacent layers of glass components to separate them. This manual handling of glass components and placement plates is labor-intensive, and the level of automation needs to be improved. Utility Model Content

[0004] The purpose of this invention is to solve the problems mentioned in the background art and to propose an automated glass component transfer device with stacking function.

[0005] The technical solution adopted by this utility model to solve its technical problem is:

[0006] An automated glass component transfer device with stacking function includes a conveyor belt, separating rubber strips, a positioning assembly, a first six-degree-of-freedom robotic arm, parallel grippers, connecting rods, a tray, a second six-degree-of-freedom robotic arm, a vacuum adsorption assembly, and a placement plate.

[0007] The separating rubber strips are fixed at equal intervals on the conveyor belt, and a glass piece is placed between two adjacent separating rubber strips;

[0008] The alignment assembly is mounted on the conveyor belt to transfer the glass pieces along the middle region of the conveyor belt.

[0009] The first six-degree-of-freedom robotic arm is mounted on the frame of the conveyor belt and is located on one side of the end area of ​​the conveyor belt;

[0010] One of the parallel grippers is connected to the first six-degree-of-freedom robotic arm, and multiple parallel grippers are connected in sequence by connecting rods and distributed in front and behind at the same height;

[0011] The pallet is positioned on the ground between the first six-degree-of-freedom robotic arm and the second six-degree-of-freedom robotic arm.

[0012] The vacuum adsorption assembly is connected to a second, sixth-degree-of-freedom robotic arm;

[0013] The placement plates are neatly stacked on the ground and work in conjunction with the vacuum adsorption components.

[0014] Furthermore, the alignment component includes a telescopic component and an arc-shaped plate. The telescopic component is symmetrically arranged on the frame of the conveyor belt and connected to an arc-shaped plate that fits against the surface of the glass piece. A rubber layer is provided on the arc-shaped plate.

[0015] The above solution can sequentially limit the position of the glass component to the middle area of ​​the conveyor belt by intermittent operation of the positioning component, and the glass component does not come into contact with the separator rubber strip during the positioning process.

[0016] Furthermore, the vacuum adsorption assembly includes a mounting box, a vacuum pump, and suction cups. The second six-degree-of-freedom robotic arm is connected to the hollow mounting box, which is equipped with a vacuum pump and several suction cups that communicate with its interior.

[0017] The above solution can firmly adsorb a placement plate by using a vacuum adsorption component. Then, in conjunction with the operation of the second six-degree-of-freedom robotic arm, the placement plate can be automatically added to several glass pieces on the lower layer, thereby enabling the subsequent neat stacking process of other layers.

[0018] Furthermore, each of the parallel grippers has an arc-shaped rubber block symmetrically fixed on its gripping arm, which is in contact with the surface of the glass piece.

[0019] The above solution can prevent scratches and damage to the glass surface by using curved rubber blocks during the parallel gripper clamping process.

[0020] Furthermore, the placement plate has several placement slots that are adapted to and correspond one-to-one with the heads of the already stacked glass pieces.

[0021] Furthermore, a CCD camera is provided at the end area of ​​the conveyor belt.

[0022] The above solution can capture real-time images of the glass components being transported on the conveyor belt using a CCD camera. Once it detects that a glass component in the loading area has been transferred away, it will immediately send a signal to the controller. The controller will then control the conveyor belt to resume operation and replenish the loading area with new glass components to await the next round of clamping and transfer process.

[0023] Compared with the prior art, the beneficial effects of this utility model are:

[0024] Compared to existing technologies, this device eliminates the need for manual transfer of inspected glass pieces onto pallets and manual addition of placement plates to achieve multi-layer separation. It can automatically clamp and transfer multiple glass pieces at a time and neatly stack them on pallets. After one layer of glass pieces is stacked, placement plates can be added automatically and accurately. This significantly improves the automation level of the glass piece transfer and stacking process while effectively reducing the labor intensity of manual operation. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0026] Figure 2 This is a schematic diagram of the placement slot;

[0027] Figure 3 Diagram showing the installation of the positioning components;

[0028] Figure label:

[0029] 1. Conveyor belt; 2. Separating rubber strips; 3. First six-degree-of-freedom robotic arm; 4. Parallel gripper; 5. Connecting rod; 6. Arc-shaped rubber block; 7. Pallet; 8. Second six-degree-of-freedom robotic arm; 9. Placement plate; 91. Placement groove; 10. Telescopic component; 11. Arc-shaped plate; 12. Mounting box; 13. Vacuum pump; 14. Suction cup. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present utility model, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model. The present utility model will be further described with reference to the accompanying drawings and embodiments:

[0031] like Figure 1 and Figure 3 As shown, an automated glass component transfer device with stacking function includes a conveyor belt 1, separating rubber strips 2, a positioning assembly, a first six-degree-of-freedom robotic arm 3, parallel grippers 4, connecting rods 5, a tray 7, a second six-degree-of-freedom robotic arm 8, a vacuum adsorption assembly, and a placement plate 9.

[0032] The separating rubber strips 2 are fixed at equal intervals on the conveyor belt 1, and a glass piece is placed between two adjacent separating rubber strips 2;

[0033] The alignment component is mounted on the conveyor belt 1 to transfer the glass piece along the middle region of the conveyor belt 1;

[0034] The first six-degree-of-freedom robotic arm 3 is mounted on the frame of the conveyor belt 1 and is located on one side of the end area of ​​the conveyor belt 1;

[0035] One of the parallel grippers 4 is connected to the first six-degree-of-freedom robotic arm 3, and multiple parallel grippers 4 are connected in sequence by connecting rods 5 and distributed in front and behind at the same height (for further optimization of the scheme, each parallel gripper 4 has an arc-shaped rubber block 6 that fits against the surface of the glass piece symmetrically connected to its gripper arm).

[0036] The pallet 7 is located on the ground between the first six-degree-of-freedom robotic arm 3 and the second six-degree-of-freedom robotic arm 8;

[0037] The vacuum adsorption assembly is connected to a second six-degree-of-freedom robotic arm 8;

[0038] The placement plates 9 are neatly stacked on the ground and work in conjunction with the vacuum adsorption components.

[0039] Further refinements of the embodiments of this utility model, such as... Figure 1 and Figure 3 As shown, the alignment assembly includes a telescopic component 10 and an arc-shaped plate 11. The telescopic component 10 is symmetrically arranged on the frame of the conveyor belt 1 and connected to the arc-shaped plate 11 that is in contact with the surface of the glass piece. A rubber layer is provided on the arc-shaped plate 11 (the rubber layer is not shown in the figure).

[0040] Further refinements of the embodiments of this utility model, such as... Figure 1 As shown, the vacuum adsorption assembly includes a mounting box 12, a vacuum pump 13, and suction cups 14. The second six-degree-of-freedom robotic arm 8 is connected to the hollow mounting box 12. The mounting box 12 is equipped with a vacuum pump 13 and several suction cups 14 that are connected to its interior.

[0041] In a further refinement of the embodiment of this utility model, a CCD camera is provided at the end area of ​​the conveyor belt 1 (not shown in the figure). In this embodiment, the CCD camera can capture real-time images of the glass parts being transported on the conveyor belt 1. When it is detected that a glass part in the loading area has been transferred away, a signal will be sent to the controller. The controller will then control the conveyor belt 1 to resume operation and replenish the subsequent new glass parts to the loading area to await the next round of clamping and transfer process.

[0042] It should be noted that the conveyor belt 1, the first six-degree-of-freedom robotic arm 3, the parallel gripper 4, the second six-degree-of-freedom robotic arm 8, the telescopic component 10, and the vacuum pump 13 are all electrically connected to the controller, which is not shown in the figure and can be specifically set on the frame of the conveyor belt 1.

[0043] The working process of this utility model is as follows:

[0044] First, the glass pieces are conveyed at a constant speed by the conveyor belt 1. During the transmission of the glass pieces, they will pass through the positioning component layout area in sequence. Then, the positioning component works intermittently to limit the position of the glass pieces in the middle area of ​​the conveyor belt 1 and prevent them from contacting the separating rubber strip 2 during the positioning process. Then, when the first glass piece reaches the end area of ​​the conveyor belt 1, it will be captured by the CCD camera. Then, the CCD camera feeds back a signal to the controller, and the controller controls the conveyor belt 1 to stop.

[0045] When conveyor belt 1 stops working, the controller immediately controls the first six-degree-of-freedom robotic arm 3 to work, which in turn drives several parallel grippers 4 to move directly above conveyor belt 1 (as per the instruction manual). Figure 1 As shown in the figure, several parallel grippers 4 move down synchronously and start working, which can clamp multiple glass pieces at the same time. The interval between adjacent parallel grippers 4 is equal to the interval between two adjacent glass pieces. During the clamping process, the arc-shaped rubber block 6 can prevent scratches and damage to the surface of the glass pieces.

[0046] After clamping multiple glass pieces, the first six-degree-of-freedom robotic arm 3 will drive the glass pieces to be transferred and neatly stacked in a row on the tray 7. After the neat stacking is completed, the above process is repeated to carry out the stacking process of other rows of glass pieces (the stacking area is preset in the controller).

[0047] After the first layer of glass components is neatly stacked, the second six-degree-of-freedom robotic arm 8 is activated to firmly adsorb a placement plate 9. The placement plate 9 is then transferred and accurately placed on top of the already stacked first layer of glass components. The second layer of glass components can then be neatly stacked. By repeating the above process, multiple layers of glass components can be neatly stacked.

[0048] Compared to existing technologies, this device eliminates the need for manual transfer of inspected glass pieces onto tray 7 and manual addition of placement plates 9 to achieve multi-layer separation. It can automatically clamp and transfer multiple glass pieces at a time and neatly stack them on tray 7. After one layer of glass pieces is stacked, placement plates 9 can be added automatically and accurately. As a result, the automation level of the glass piece transfer and stacking process is significantly improved, while effectively reducing the labor intensity of manual operation.

[0049] In some embodiments, such as Figure 2 As shown, the placement plate 9 has a plurality of placement slots 91 that are adapted to and correspond one-to-one with the heads of the stacked glass pieces; in this embodiment, the heads of the stacked glass pieces can enter through the placement slots 91, and the heads of the glass pieces are lower than the top of the placement slots 91 after entering.

[0050] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The descriptions of the above embodiments and specifications are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of protection claimed by this utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. An automated glass component transfer device with stacking function, characterized in that, Includes a conveyor belt (1), separating rubber strips (2), alignment assembly, first six-degree-of-freedom robotic arm (3), parallel grippers (4), connecting rod (5), tray (7), second six-degree-of-freedom robotic arm (8), vacuum adsorption assembly, and placement plate (9). Separating rubber strips (2) are fixed at equal intervals on the conveyor belt (1) and a glass piece is placed between two adjacent separating rubber strips (2); The alignment assembly is set on the conveyor belt (1) to transfer the glass piece along the middle area of ​​the conveyor belt (1); The first six-degree-of-freedom robotic arm (3) is mounted on the frame of the conveyor belt (1) and is located on one side of the end area of ​​the conveyor belt (1); One of the parallel grippers (4) is connected to the first six-degree-of-freedom robotic arm (3), and multiple parallel grippers (4) are connected in sequence by connecting rods (5) and distributed in front and behind at the same height; The pallet (7) is located on the ground between the first six-degree-of-freedom robotic arm (3) and the second six-degree-of-freedom robotic arm (8); The vacuum adsorption assembly is connected to a second six-degree-of-freedom robotic arm (8); The placement plates (9) are neatly stacked on the ground and used in conjunction with the vacuum adsorption components.

2. The automated glass component transfer device with stacking function according to claim 1, characterized in that, The alignment component includes a telescopic component (10) and an arc plate (11). The telescopic component (10) is symmetrically arranged on the frame of the conveyor belt (1) and connected to the arc plate (11) which is in contact with the surface of the glass. A rubber layer is provided on the arc plate (11).

3. The automated glass component transfer device with stacking function according to claim 1, characterized in that, The vacuum adsorption assembly includes a mounting box (12), a vacuum pump (13), and suction cups (14). The second six-degree-of-freedom robotic arm (8) is connected to the hollow mounting box (12). The mounting box (12) is equipped with a vacuum pump (13) and several suction cups (14) that are connected to its interior.

4. An automated glass component transfer device with stacking function according to claim 1, characterized in that, Each of the parallel grippers (4) has an arc-shaped rubber block (6) that fits against the surface of the glass piece symmetrically fixed on its gripping arm.

5. An automated glass component transfer device with stacking function according to claim 1, characterized in that, The placement plate (9) has several placement slots (91) that are adapted to and correspond one-to-one with the heads of the already stacked glass pieces.

6. An automated glass component transfer device with stacking function according to claim 1, characterized in that, A CCD camera is installed at the end area of ​​the conveyor belt (1).

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