CN115818250A - Glass feeding system - Google Patents
Glass feeding system Download PDFInfo
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- CN115818250A CN115818250A CN202211567761.6A CN202211567761A CN115818250A CN 115818250 A CN115818250 A CN 115818250A CN 202211567761 A CN202211567761 A CN 202211567761A CN 115818250 A CN115818250 A CN 115818250A
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- 239000011521 glass Substances 0.000 title claims abstract description 106
- 230000007246 mechanism Effects 0.000 claims abstract description 84
- 238000011084 recovery Methods 0.000 claims abstract description 17
- 125000006850 spacer group Chemical group 0.000 claims description 7
- 238000000034 method Methods 0.000 abstract description 6
- 239000000463 material Substances 0.000 abstract description 5
- 238000005192 partition Methods 0.000 description 12
- 238000012545 processing Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 4
- 239000000758 substrate Substances 0.000 description 4
- 238000005520 cutting process Methods 0.000 description 3
- 238000007688 edging Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000004064 recycling Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000013341 scale-up Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P40/00—Technologies relating to the processing of minerals
- Y02P40/50—Glass production, e.g. reusing waste heat during processing or shaping
- Y02P40/57—Improving the yield, e-g- reduction of reject rates
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Abstract
The present disclosure relates to a glass feeding system, comprising: the feeding device comprises a containing frame, a recovery box, a sheet taking mechanism and a paper taking mechanism, wherein the containing frame is used for placing a plurality of glass plates and a plurality of spaced papers which are sequentially and alternately stacked, the sheet taking mechanism comprises a first multi-shaft manipulator and a first gripping part arranged at an execution end of the first multi-shaft manipulator, and the paper taking mechanism comprises a second multi-shaft manipulator and a second gripping part arranged at an execution end of the second multi-shaft manipulator; and a conveying device for conveying the glass sheet in a first direction. This glass feeding system can replace the manual supplementary step of getting paper of staff among the correlation technique through getting paper mechanism, both realizes quick material loading, can reduce the human cost again.
Description
Technical Field
The disclosure relates to the technical field of glass processing, in particular to a glass feeding system.
Background
As the demand for liquid crystal glass substrates has increased, various substrate manufacturers have also begun to scale up the production of glass substrates. The automatic production line for processing the glass substrate comprises the working procedures of feeding, cutting, edging, cleaning, checking, packaging and the like. Because the glass size is bigger, the loading and paper taking modes in the loading process are difficult to realize full automation, at present, manufacturers at home and abroad carry out semi-automatic production in a mode of manually assisting paper taking in the related technology, the beat is slow, and the efficiency is low.
Disclosure of Invention
The utility model aims at providing a glass feeding system, this glass feeding system can replace the manual supplementary step of getting paper of staff among the correlation technique through getting the paper mechanism, both realize quick material loading, can reduce the human cost again.
To achieve the above object, the present disclosure provides a glass feeding system comprising: the feeding device comprises a containing frame, a recovery box, a sheet taking mechanism and a paper taking mechanism, wherein the containing frame is used for placing a plurality of glass plates and a plurality of spaced papers which are sequentially and alternately stacked, the sheet taking mechanism comprises a first multi-shaft manipulator and a first gripping part arranged at an execution end of the first multi-shaft manipulator, and the paper taking mechanism comprises a second multi-shaft manipulator and a second gripping part arranged at an execution end of the second multi-shaft manipulator; and a conveying device for conveying the glass sheet in a first direction; wherein the first multi-axis robot is adapted to take out the glass sheet from the containing rack and place the glass sheet on the conveyor by means of the first gripper, and the second multi-axis robot is adapted to take out the spacer paper from the containing rack and place the spacer paper into the recovery box by means of the second gripper.
Optionally, the number of the feeding devices is two, and the two feeding devices are symmetrically arranged with respect to the conveying direction of the conveying device.
Optionally, the feeding device comprises two containing frames, the two containing frames are arranged at intervals along the first direction, and the paper taking mechanism and the sheet taking mechanism are both arranged between the two containing frames; in a horizontal second direction perpendicular to the first direction, the distance between the sheet taking mechanism and the conveying device is smaller than the distance between the paper taking mechanism and the conveying device, and the recovery box is located on one side, away from the conveying device, of any one of the containing frames.
Optionally, the sheet taking mechanism comprises a first moving platform, and the first multi-axis manipulator is movably arranged on the first moving platform; and/or the paper taking mechanism comprises a second moving platform, and the second multi-axis manipulator is movably arranged on the second moving platform.
Optionally, each of the first mobile platform and the second mobile platform includes a rail, a sliding mount, and a driving mechanism, the first multi-axis robot and the second multi-axis robot are respectively disposed on the corresponding sliding mounts, the sliding mounts are movably disposed on the rails, and the driving mechanism is in driving connection with the sliding mounts to drive the sliding mounts to move along the extending direction of the rails.
Optionally, an angle between the extending direction of the track and the conveying direction of the conveying device is 50 ° to 70 °.
Optionally, the containing frame comprises a base and an A-shaped frame which is placed on the base or detachably connected with the base, and the A-shaped frame is provided with a placing surface for placing the glass plate and the spacing paper; wherein, the included angle between the extending direction of the placing surface in the horizontal direction and the conveying direction of the conveying device is 50-70 degrees; and/or the included angle between the placing surface and the horizontal plane is 65-85 degrees.
Optionally, the glass feeding system further comprises a controller and a pressure sensor, the controller is in signal connection with the pressure sensor, the first multi-axis manipulator and the second multi-axis manipulator respectively, and the pressure sensor is arranged between the a-shaped frame and the base.
Optionally, each of the first gripper and the second gripper comprises a frame and a plurality of vacuum cups provided on the frame, the frame being connected to an execution end of the corresponding first multi-axis robot or the second multi-axis robot.
Optionally, the first and/or second multi-axis robots are six-axis robots.
Through the technical scheme, the staff places whole group's glass board (including interval paper and the glass board that piles up in turn) on holding the frame, remove to conveyor department from holding the frame with the glass board earlier through getting a piece mechanism, remove to collection box department by getting the interval paper that paper mechanism will be used for protecting the glass board again, so, snatch glass board and interval paper in turn through getting a piece mechanism and getting paper mechanism, conveyor can transport the glass board of placing in proper order on conveyor to subsequent processing region in order to accomplish processing technology such as cutting, edging, wash, inspection and packing.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a top view of a glass loading system provided in an exemplary embodiment of the present disclosure;
FIG. 2 is a front view of another state of a glass frit system provided in an exemplary embodiment of the present disclosure;
fig. 3 is a schematic structural view of a holding rack provided in an exemplary embodiment of the present disclosure;
fig. 4 is a schematic structural view of a first grip (second grip) provided in an exemplary embodiment of the present disclosure;
fig. 5 is a top view of a glass loading system provided in an exemplary embodiment of the present disclosure with a first multi-axis robot in a first pick position and a second multi-axis robot in a first pick position;
fig. 6 is a top view of a glass loading system provided in an exemplary embodiment of the present disclosure, with the first multi-axis robot in a second pick position and the second multi-axis robot in a second pick position;
FIG. 7 is a top view of a glass loading system provided in an exemplary embodiment of the present disclosure with a first multi-axis robot in a sheet placement position and a second multi-axis robot in a sheet placement position;
fig. 8 is a top view of a glass feeding system provided in an exemplary embodiment of the present disclosure, wherein the first multi-axis robot, the first gripper, the second multi-axis robot, and the second gripper are not shown;
fig. 9 is a diagrammatic side view of an a-frame provided in exemplary embodiments of the present disclosure.
Description of the reference numerals
1-a containing frame; 101-a base; 102-A type frame; 103-a pressure sensor; 2-a recycling bin; 3-a sheet taking mechanism; 301-a first multi-axis manipulator; 302-a first grip; 303-a first mobile platform; 4-a paper taking mechanism; 401-a second multi-axis manipulator; 402-a second grip; 403-a second mobile platform; 5-a conveying device; 6-a glass plate; 7-spacer paper; 8-vacuum chuck; 9-a frame; 10-vacuum generator.
Detailed Description
The following detailed description of the embodiments of the disclosure refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
In the present disclosure, the use of directional terms such as "upper and lower" generally means "upper and lower" opposed to each other in the gravity direction when the respective components are in the use state, unless otherwise specified. "inner and outer" refer to inner and outer relative to the contour of the component or structure itself. In addition, it should be noted that terms such as "first", "second", and the like are used for distinguishing one element from another, and have no order or importance. In addition, in the description with reference to the drawings, the same reference numerals in different drawings denote the same elements.
According to a specific embodiment of a first aspect of the present disclosure, referring to fig. 1 to 7, there is provided a glass feeding system comprising: the feeding device comprises a containing frame 1, a recovery box 2, a sheet taking mechanism 3 and a paper taking mechanism 4, wherein the containing frame 1 is used for placing a plurality of glass plates 6 and a plurality of pieces of interval paper 7 which are sequentially and alternately stacked, the sheet taking mechanism 3 comprises a first multi-axis manipulator 301 and a first gripping member 302 arranged at the execution end of the first multi-axis manipulator 301, and the paper taking mechanism 4 comprises a second multi-axis manipulator 401 and a second gripping member 402 arranged at the execution end of the second multi-axis manipulator 401; and a conveying device 5 for conveying the glass sheet 6 in a first direction; among them, the first multi-axis robot 301 is used to take out the glass plate 6 from the containing shelf 1 and place it on the conveyor 5 by means of the first gripper 302, and the second multi-axis robot 401 is used to take out the partition paper 7 from the containing shelf 1 and place it into the recovery box 2 by means of the second gripper 402.
Through the technical scheme, the staff places whole group's glass board (including interval paper 7 and the glass board 6 that pile up in proper order in turn) on holding frame 1, remove to conveyor 5 department from holding frame 1 glass board 6 earlier through getting piece mechanism 3, remove to collection box 2 department by getting paper mechanism 4 interval paper 7 that is used for protecting glass board 6 again, so, snatch glass board 6 and interval paper 7 in turn through getting piece mechanism 3 and getting paper mechanism 4, conveyor 5 can transport glass board 6 placed on conveyor 5 in proper order to accomplish the cutting, the edging, wash, processing technology such as inspection and packing towards subsequent processing region.
The first direction may refer to the up-down direction of the drawing in fig. 1, or may refer to the arrow direction in fig. 8, that is, the conveying direction of the conveying device 5, and the conveying direction of the conveying device 5 is taken as a positive direction, and the reverse direction is taken as a negative direction.
In addition, referring to fig. 1, fig. 2, and fig. 5 to fig. 7, the number of the feeding devices may be two, and the two groups of feeding devices are symmetrically arranged with respect to the conveying direction of the conveying device 5, and the two groups of symmetrically arranged feeding devices improve the feeding efficiency, and when the sheet taking mechanism 3 of one group of feeding devices takes out the glass sheet 6 from the containing frame 1, the sheet taking mechanism 3 of the other group of feeding devices may place the glass sheet 6 that has just been taken out on the conveying device 5, thereby achieving rapid feeding.
In some specific embodiments, the feeding device comprises two containing frames 1, the two containing frames 1 are arranged at intervals along a first direction, and the paper taking mechanism 4 and the sheet taking mechanism 3 are both arranged between the two containing frames 1; in a horizontal second direction perpendicular to the first direction, the distance between the sheet taking mechanism 3 and the conveying device 5 is smaller than the distance between the paper taking mechanism 4 and the conveying device 5, and the recovery box 2 is positioned on one side, away from the conveying device 5, of any one of the containing frames 1. Wherein, the second direction can refer to the left and right direction of the drawing in fig. 1.
For one group of feeding devices, two containing frames 1 arranged on two sides of a paper taking mechanism 4 and a paper taking mechanism 3 are arranged in a manner that 1 is used as spare 1, the paper taking mechanism 4 and the paper taking mechanism 3 intensively convey a glass plate 6 on one containing frame 1 to a conveying device 5 in a period of working time and collect partition paper into a recovery box 2, after all glass on the containing frame 1 is conveyed, the glass plate 6 on the other containing frame 1 is intensively conveyed to the conveying device 5, and the partition paper is collected into the recovery box 2, at the moment, a worker finishes the material replacement work of the idle containing frame 1, so that useless downtime can be avoided during glass material replacement, the recovery box 2 arranged on one side of the containing frame 1 can recover the partition paper 7 used for protecting the glass plate 6, the capacity of the recovery box 2 can meet long-time work, so that only one recovery box 2 is needed to meet the normal operation of a feeding system, the work of paper taking is quicker and simpler than the work of glass material replacement, even if the recovery box 2 is about to be replaced by the partition paper 7, the worker can only take out the recovery box 2 which is full of the partition paper or can be used for replacing the partition paper.
In order to increase the range of motion of the paper taking mechanism 4 and the sheet taking mechanism 3, in some embodiments, as shown with reference to fig. 1, 2, and 5-7, the sheet taking mechanism 3 includes a first moving platform 303, and the first multi-axis robot 301 is movably disposed on the first moving platform 303; and/or the paper taking mechanism 4 comprises a second moving platform 403, and the second multi-axis manipulator 401 is movably arranged on the second moving platform 403.
The first moving platform 303 may be configured in any suitable manner, with the purpose that the first multi-axis robot 301 may move on the first moving platform 303 from a first film taking position, which corresponds to taking a film from a shelf 1 that is close to the negative direction in the first direction, to a film placing position, which corresponds to taking a film from a shelf 1 that is close to the positive direction in the first direction, or from a second film taking position, which corresponds to taking a film from a shelf 1 that is close to the positive direction in the first direction, to a film placing position. For example, in some embodiments, the first moving platform 303 may include a rail, a sliding mount on which the first multi-axis robot 301 is disposed, and a driving mechanism that is movably disposed on the rail and is drivingly connected to the sliding mount to drive the sliding mount to move along an extending direction of the rail. In this way, the driving mechanism drives the sliding mount to move on the rail, so that the first multi-axis robot 301 can move on the first moving platform 303.
Wherein the drive mechanism may be configured in any suitable manner for the purpose of driving the sliding mount to move on the rail. For example, in some embodiments, the driving mechanism may include a motor and a lead screw connected to the motor, the lead screw being rotatably disposed on the rail around its axis and extending along a length direction of the rail, and a sliding mount being in threaded engagement with the lead screw, wherein the sliding mount abuts against the rail to limit the sliding mount from rotating along with the lead screw. Therefore, the motor drives the screw rod to rotate, and the sliding mounting seat moves on the rail in a screw rod transmission mode. The motor may drive the lead screw to rotate through the synchronous belt, or may drive the lead screw to rotate through other suitable manners, for example, the lead screw is driven to rotate through a gear transmission or through a speed reducer, which is not limited in this disclosure.
In some embodiments, the sliding mount may abut the rail in any suitable manner to limit the sliding mount from rotating with the lead screw. For example, the first moving platform 303 may include a guiding mechanism, the guiding mechanism includes a sliding rail and a sliding block, the sliding rail is disposed on the rail and extends along the length direction of the rail, and the sliding block is disposed on the sliding mount. Thus, the sliding installation seat can be matched with the sliding rail through the sliding block to abut against the rail. Through this kind of mode, can restrict the sliding mounting seat on the one hand and follow the lead screw and rotate, on the other hand also can make the sliding mounting seat move more steadily on the track.
In other embodiments, the driving mechanism may further include a rack, a gear, and a driving motor, the rack is disposed on the rail and extends along a length direction of the rail, the gear is rotatably disposed on the sliding mount around an axis thereof and is engaged with the rack, and the first driving motor is in transmission connection with the gear. In this way, the gear is driven to rotate by the first drive motor, so that the sliding mounting seat can move on the rail in a gear-and-rack transmission manner.
The track may have a certain curvature, and accordingly, the rack may also have a certain curvature along the track. Therefore, the extension direction and the bending radian of the track can be reasonably arranged according to factors such as the practical application scene and the application space of the glass feeding system provided by the disclosure, so that the purposes of reasonably utilizing the space and increasing the application range are achieved.
The second moving platform 403 has the same structure as the first moving platform 303, and the purpose thereof is to enable the second multi-axis robot 401 to move on the second moving platform 403 from a first paper pickup position to a paper placing position or from a second paper pickup position to a paper placing position, where the first paper pickup position corresponds to a position where paper is picked up from the containing rack 1 close to the negative direction in the first direction, and the second paper pickup position corresponds to a position where paper is picked up from the containing rack 1 close to the positive direction in the first direction, and in order to avoid unnecessary repetition, the structure of the second moving platform 403 is not described in detail in the present disclosure.
In some embodiments, referring to fig. 1, fig. 2, and fig. 5 to fig. 8, an angle a between the extending direction of the track and the first direction is 50 ° to 70 °, the angle between the extending direction of the track and the first direction may refer to an angle between the track and a positive direction of the first direction or an angle between the track and a negative direction of the first direction, and a direction of an arrow shown in fig. 8 is a positive direction of the first direction, which is a conveying direction of the conveying device 5. The tracks in the first moving platform 303 and the second moving platform 403 are parallel to each other, and may have a setting error of not more than 10 °. The track that is the angle setting can increase simultaneously in first direction and second direction and get paper mechanism 4 and get the home range of piece mechanism 3 for it is more loose to hold the overall arrangement restriction of frame 1 and collection box 2 in the position. For example, when the ideal design position of the containing frame 1 is provided with a barrier or a recess which is not suitable for arranging the containing frame 1, the position of the containing frame 1 can be properly finely adjusted without adjusting the position of the sheet taking mechanism 3, the fine adjustment range is loose due to the rail arranged at an angle, and the relocation and site selection of the system are avoided.
In some embodiments, referring to the illustration in fig. 3, the holding rack 1 comprises a base 101 and an a-frame 102 placed on the base 101 or detachably connected to the base 101.
The A-shaped frame 102 for holding glass needs to be moved in the glass reloading process, the position of the A-shaped frame 102 needs to be calibrated again in the returning process, and the A-shaped frame 102 can be directly fixed on the base 101 after reloading is finished every time through the base 101 fixedly connected with the ground or an object stage for bearing a glass loading system, so that the step of calibration is omitted, and time and a large amount of labor cost are saved.
The a-frame 102 has a placing surface for placing the glass plate 6 and the spacer paper 7; as shown in fig. 8 and 9, an angle b between the extending direction of the placing surface in the horizontal direction and the conveying direction of the conveying device 5 is 50 ° to 70 °; and/or the included angle c between the placing surface and the horizontal plane is 65-85 degrees.
The placing surface and the horizontal plane form an included angle c of 65-85 degrees, so that the glass plate 6 is protected from being damaged due to the influence of self gravity, the utilization rate of the space is improved, and the overlarge occupied space caused by horizontally placing the glass plate 6 is avoided; meanwhile, the extension direction of the placing surface in the horizontal direction and the conveying direction of the conveying device 5 form an included angle b of 50-70 degrees, so that the placing surface is approximately parallel to the extension direction of the track, and the purposes of compact layout and smaller occupied area are achieved.
In order to control the paper taking and sheet taking positions of the paper taking mechanism 4 and the sheet taking mechanism 3, the glass feeding system further comprises a controller and a pressure sensor 103, wherein the controller is respectively in signal connection with the pressure sensor 103, the first multi-axis manipulator 301 and the second multi-axis manipulator 401, and the pressure sensor 103 is arranged between the A-shaped frame 102 and the base 101.
Setting the pressure value of the A-shaped frame 102 in idle as a trigger pressure value, and when the pressure reading of the pressure sensor 103 is far greater than the trigger value, enabling the paper taking mechanism 4 and the film taking mechanism 3 to work normally; when the pressure reading of the pressure sensor 103 approaches to a trigger value, the controller sends an alarm through a sound-generating device arranged on the controller to prompt workers in the field to prepare for glass refueling; when the pressure reading of the pressure sensor 103 reaches the trigger value, the controller sends a signal to control the second multi-axis manipulator 401 of the paper taking mechanism 4 and the first multi-axis manipulator 301 of the sheet taking mechanism 3 to take the paper and the sheets from the containing frame 1 of which the pressure reading of the other pressure sensor 103 is far larger than the trigger value; when the pressure readings of the pressure sensors 103 on the two bases 101 reach the trigger value, the controller continuously gives an alarm, the first multi-axis manipulator 301 returns to the first sheet taking position, the second multi-axis manipulator 401 returns to the first sheet taking position, and the feeding device stops working.
The first gripper 302 may be configured in any suitable manner, the purpose of which is to enable the operations of removing the glass sheet 6 and placing the glass sheet 6 to be performed. For example, in some embodiments, the first gripper 302 is configured as a mechanical gripper that is mounted at an execution end of the first multi-axis robot 301. After the mechanical clamp clamps the glass plate 6 at the containing frame 1, the first multi-axis manipulator 301 drives the mechanical clamp to move to the conveying device 5 to place the glass plate 6 on the conveying device 5, and then the first multi-axis manipulator 301 drives the mechanical clamp to move to the containing frame 1 to clamp the glass plate 6 again.
In other embodiments, referring to fig. 4, the first gripper 302 comprises a frame 9 and a plurality of vacuum suction cups 8 disposed on the frame 9, wherein the frame 9 is a hollow frame 9 composed of a plurality of hollow support rods, the inner space of the hollow frame 9 is communicated with the vacuum generator 10, when the vacuum generator 10 is operated, the first gripper 302 can suck the glass sheet 6 through the vacuum suction cups 8, so as to take the glass sheet 6 out of the containing rack 1, move the glass sheet 6 to the conveying device 5 by the first multi-axis robot 301, place the glass sheet 6 on the conveying device 5, and then move the glass sheet to the containing rack 1 by the first multi-axis robot 301 to suck the glass sheet 6 again.
The second gripper 402 has the same structure as the first gripper 302, and the purpose thereof is to complete the operations of taking out the partition paper 7 and placing the partition paper 7, and in order to avoid unnecessary repetition, the structure of the second moving platform 403 will not be described in detail in the present disclosure.
The multi-axis manipulator in the present disclosure may be arbitrarily arranged according to the actual disclosure, for example, a four-axis manipulator or a six-axis manipulator, and a suitable degree of freedom may be selected, which is not limited by the present disclosure.
The present disclosure exemplarily describes the operation of the glass feeding system, for example, in the initial state, two first multi-axis robots 301 symmetrical to each other are each located at the first sheet taking position, and two second multi-axis robots 401 symmetrical to each other are each located at the first sheet taking position.
Then, the worker finishes glass replacement of two containing frames 1 in each group, the total number of the containing frames is four, the worker unloads the unloaded A-shaped frame 102 from the base 101, installs the A-shaped frame 102 fully loaded with the glass plate 6 to the base 101, then starts the system, and the loading device starts to work;
wherein the first multi-axis robot 301 in the sheet taking mechanism 3 starts to take out the glass sheet 6 from the accommodating shelf 1 at a first sheet taking position (position of the first multi-axis robot 301 shown in fig. 5);
after a delay of a short time, the second multi-axis robot 401 in the paper taking mechanism 4 starts to take out the partition paper 7 from the same containing frame 1 at the first paper taking position (the position of the second multi-axis robot 401 shown in fig. 5), at which time the first multi-axis robot 301 is moved to the sheet setting position (the position of the first multi-axis robot 301 shown in fig. 7) by the first moving platform 303 and the glass plate 6 is set at the conveyor 5;
then the first multi-axis manipulator 301 returns to the first sheet taking position under the driving of the first moving platform 303 to take out the glass plate 6 from the containing frame 1, at this time, the second multi-axis manipulator 401 moves to a paper placing position (the position of the second multi-axis manipulator 401 shown in fig. 7) under the driving of the second moving platform 403, and the partition paper 7 is placed at the recycling bin 2;
repeating the steps to alternately grab the glass plate and the spacing paper by the sheet fetching mechanism and the paper fetching mechanism;
after a short time delay, the other symmetrical feeding devices start to work according to the steps, so that when the sheet taking mechanism 3 of one group of feeding devices takes out the glass plate 6 from the containing frame 1, the sheet taking mechanism 3 of the other group of feeding devices can place the glass plate 6 which is just taken out on the conveying device 5, and quick feeding is realized;
after a period of operation, the pressure sensor 103 detects that the glass sheet 6 on the a-frame 102 is about to run out, and the controller issues an alarm to alert the staff on site to prepare for glass change. After the glass plate 6 on the a-type frame 102 is exhausted, the controller sends a signal, and the first multi-axis manipulator 301 in the sheet taking mechanism 3 is driven by the first moving platform 303 to move from the sheet placing position to the second sheet taking position (refer to the position of the first multi-axis manipulator 301 shown in fig. 6) to take out the glass plate 6 from another containing frame 1;
after a short delay, the second multi-axis robot 401 in the paper taking mechanism 4 takes out the spacer paper 7 from the same containing frame 1 by being moved from the paper placing position to the second paper taking position (refer to the position of the second multi-axis robot 401 shown in fig. 6) by the second moving platform 403, at which time the first multi-axis robot 301 is moved to the sheet placing position (refer to the position of the first multi-axis robot 301 shown in fig. 7) by the first moving platform 303 and places the glass plate 6 at the conveyor 5;
then, the glass plate 6 is taken out from the containing frame 1 by returning to the second sheet taking position under the driving of the first moving platform 303, at this time, the second multi-axis manipulator 401 is moved to the paper placing position (refer to the position of the second multi-axis manipulator 401 shown in fig. 7) under the driving of the second moving platform 403, and the partition paper 7 is placed at the recycling bin 2;
repeating the steps to alternately grab the glass plate and the spacing paper by the sheet fetching mechanism and the paper fetching mechanism;
at the moment, the operator detaches the unloaded a-shaped frame 102, installs the prepared a-shaped frame 102 fully loaded with the glass plate 6 to the base 101, and after working for a period of time, the pressure sensor 103 detects that the glass plate 6 on the a-shaped frame 102 is about to be exhausted, the controller gives an alarm, and the operator and the feeding device on site repeat the steps.
After the work of a period of time ended, two of loading attachment hold frame 1 and are the idle load, and the controller continues to send out the police dispatch newspaper, and the staff stops glass feeding system's operation, then takes out interval paper 7 in collection box 2 to the work of influence next stage.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure as long as it does not depart from the gist of the present disclosure.
Claims (10)
1. A glass loading system, comprising:
the feeding device comprises a containing frame, a recovery box, a sheet taking mechanism and a paper taking mechanism, wherein the containing frame is used for placing a plurality of glass plates and a plurality of spaced papers which are sequentially and alternately stacked, the sheet taking mechanism comprises a first multi-shaft manipulator and a first gripping part arranged at an execution end of the first multi-shaft manipulator, and the paper taking mechanism comprises a second multi-shaft manipulator and a second gripping part arranged at an execution end of the second multi-shaft manipulator; and
a conveying device for conveying the glass sheet in a first direction;
wherein the first multi-axis robot is adapted to take out the glass sheet from the containing rack and place the glass sheet on the conveyor by means of the first gripper, and the second multi-axis robot is adapted to take out the spacer paper from the containing rack and place the spacer paper into the recovery box by means of the second gripper.
2. The glass loading system according to claim 1, wherein the number of the loading devices is two groups, and the two groups of the loading devices are arranged symmetrically with respect to a conveying direction of the conveying device.
3. The glass feeding system according to claim 2, wherein the feeding device comprises two of the containing racks, the two containing racks are arranged at intervals along the first direction, and the paper taking mechanism and the sheet taking mechanism are both arranged between the two containing racks;
in a horizontal second direction perpendicular to the first direction, the distance between the sheet taking mechanism and the conveying device is smaller than the distance between the paper taking mechanism and the conveying device, and the recovery box is located on one side, away from the conveying device, of any one of the containing frames.
4. The glass loading system according to claim 1, wherein the sheet picking mechanism comprises a first moving platform on which the first multi-axis robot is movably disposed; and/or the presence of a gas in the gas,
the paper taking mechanism comprises a second moving platform, and the second multi-axis manipulator is movably arranged on the second moving platform.
5. The glass loading system according to claim 1, wherein the first moving platform and the second moving platform each comprise a rail, a slide mount, and a driving mechanism, the first multi-axis robot and the second multi-axis robot are each disposed on the corresponding slide mount, the slide mount is movably disposed on the rail, and the driving mechanism is drivingly connected to the slide mount to drive the slide mount to move along an extending direction of the rail.
6. A glass loading system according to claim 5, wherein the angle between the direction of extension of the track and the first direction is between 50 ° and 70 °.
7. A glass loading system according to claim 1, wherein the containing rack comprises a base and an a-type rack placed on or detachably connected with the base, the a-type rack having a placing surface for placing the glass plate and the spacer paper;
wherein, the included angle between the extending direction of the placing surface in the horizontal direction and the conveying direction of the conveying device is 50-70 degrees; and/or the presence of a gas in the gas,
the included angle between the placing surface and the horizontal plane is 65-85 degrees.
8. The glass loading system of claim 7, further comprising a controller in signal communication with the pressure sensor, the first multi-axis robot, and the second multi-axis robot, respectively, and a pressure sensor disposed between the A-frame and the base.
9. The glass loading system according to claim 1, wherein the first gripper and the second gripper each comprise a frame and a plurality of vacuum cups disposed on the frame, the frame being connected to an execution end of the corresponding first multi-axis robot or the second multi-axis robot.
10. The glass loading system according to claim 1, wherein the first multi-axis robot and/or the second multi-axis robot is a six-axis robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211567761.6A CN115818250A (en) | 2022-12-07 | 2022-12-07 | Glass feeding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211567761.6A CN115818250A (en) | 2022-12-07 | 2022-12-07 | Glass feeding system |
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| Publication Number | Publication Date |
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| CN115818250A true CN115818250A (en) | 2023-03-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211567761.6A Pending CN115818250A (en) | 2022-12-07 | 2022-12-07 | Glass feeding system |
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| CN (1) | CN115818250A (en) |
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| CN114104738A (en) * | 2022-01-07 | 2022-03-01 | 潍坊佳昇光电科技有限公司 | Glass feeding system |
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| CN101868413A (en) * | 2007-11-20 | 2010-10-20 | 旭硝子株式会社 | Slip sheet removing device, plate taking device and its method |
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