CN105984729B - Full-automatic glass horizontal stacking - Google Patents
Full-automatic glass horizontal stacking Download PDFInfo
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- CN105984729B CN105984729B CN201510073976.6A CN201510073976A CN105984729B CN 105984729 B CN105984729 B CN 105984729B CN 201510073976 A CN201510073976 A CN 201510073976A CN 105984729 B CN105984729 B CN 105984729B
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Abstract
The present invention relates to the technical fields of float glass, provide full-automatic glass horizontal stacking.Full-automatic glass horizontal stacking provided by the invention, including traverse rod, stacking platform group and for will move in stacking platform group the absorption host for carrying out stacking after the absorption of the glass of the glass production line, drawing host includes fixed frame, running gear, movable frame, lifting gear, suction cup carrier and mobile device.It is compared with the prior art, full-automatic glass horizontal stacking provided by the invention, improves crawl efficiency, and glass crawl process stabilization is not susceptible to accident, reduces the stacking time of every piece of glass plate, improves production efficiency.Suction cup carrier is driven to be moved towards with glass moving direction and with the speed identical with glass translational speed while pick-up component pressed glass surface, in this way, glass crawl is more convenient and firm, improves crawl and production efficiency.
Description
Technical field
The present invention relates to the technical field of float glass, more particularly, to it is a kind of suitable for floatation glass production line it is complete from
Dynamic glass horizontal stacker.
Background technology
In floatation glass production line, glass plate can continuously be cut by cutting machine and be completed, different size and grade
Glass plate be transported to by rollgang in the cold end of glass thread, needing a kind of machine at this time can be rapidly by various specifications
And the glass plate of grade carries out stacking, in order to be stored in warehouse.
At present, existing glass stacker includes a gripper and the glass frame for placing glass, is set in gripper
There is sucker, since the surface of glass is relatively smooth, it is captured in glass traveling easily because absorption loosely causes glass to come off
And damage, therefore, when gripper captures glass, it is necessary to which rollgang is stalled, just it is captured after band glass is static.
In this way, crawl is extremely inefficient, the stacking time of every piece of glass plate is longer, causes production efficiency low.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of full-automatic glass horizontal stacking, it is intended to solve existing
In technology, the crawl efficiency of glass is low on floatation glass production line, and the stacking time of every piece of glass plate is longer, and production efficiency is relatively low
The defects of.
Full-automatic glass horizontal stacking provided by the invention, for being drawn to the glass on glass production line and water
Flat stacking, including traverse rod, at least one stacking platform group and at least one use being erected above the glass production line
It is moved to after the glass of the glass production line is drawn at least one stacking platform group and carries out the absorption master of stacking
Machine；
At least one host of drawing includes the fixed frame being connected on the traverse rod, the driving fixed frame edge
It is the running gear of the extending direction movement of the traverse rod, the movable frame being arranged in the fixed frame, described for driving
Lifting gear that the relatively described fixed frame of movable frame moves up and down draws the glass when the movable frame moves down
The suction cup carrier of the glass on glass production line and for making the relatively described movable frame of suction cup carrier along the glass production line
The glass moving direction movement mobile device；The mobile device respectively with the movable frame and the suction cup carrier
Connection, the suction cup carrier are equipped with to draw the pick-up component of the glass；The glass on the glass production line
Into before the lower section of the absorption host, the movable frame for being connected with suction cup carrier is declined by lifting gear, at the same it is described
Suction cup carrier is moved to outermost end, the suction cup carrier and the glass production line towards the direction opposite with the glass moving direction
The preset space length entered for glass is left between rollgang, waits the entrance of the glass；When the glass enters the suction
Behind the underface of plate rail, the suction cup carrier continues to move down towards the glass surface；The glass surface is compressed in the pick-up component
While the suction cup carrier is driven to be moved towards with the glass moving direction and with the speed identical with the glass translational speed；
The glass is risen and be moved in the stacking platform group by the suction cup carrier carries out stacking.
Further, the mobile device include setting the servo-actuated frame of the movable frame bottom and for drive it is described with
The servo-actuated frame driving mechanism that the relatively described movable frame of dynamic frame moves horizontally, the suction cup carrier are installed on the servo-actuated frame.
Further, the absorption host further includes a rotating device, the rotating device include respectively with the activity
First rotating shaft that frame is connected with the servo-actuated frame and for the servo-actuated frame to be driven to be rotated around the axis of the first rotating shaft
Rotary drive mechanism, the axis of the first rotating shaft sets in vertical.
Further, the glass has one side wall, and the absorption host further includes to detect the side of the glass
Wall and the glass moving direction misalignment angle and the position detection dress for detecting spacing between the side wall and the first rotating shaft
It puts.
Further, multiple the first idler wheels for being used to be supported on the traverse rod are provided on the fixed frame,
Direction is extended along on the traverse rod and is installed with a rack, the running gear includes the shifting being fixedly connected with the fixed frame
Dynamic seat, the first force piece with the first gear of rack grinding tooth cooperation and for driving the first gear rotation, institute
The first force piece is stated to be installed on the Mobile base.
Further, the lifting gear include the chain that is connected respectively with the fixed frame and the movable frame with
And the second force piece for pulling the chain.
Further, the glass on the glass production line can relatively described glass production line move along the first direction,
The extending direction of the traverse rod is vertically arranged with the first direction in same level；The horizontal stacking of full-automatic glass
Machine include being disposed side by side on the absorption hosts of on the traverse rod and can relatively move two and with two absorption hosts
Corresponding two stacking platform groups.
Further, each stacking platform group includes being subsequently placed at the glass along the extending direction of the traverse rod
Hoistable platform and walking overturning platform on the outside of glass production line；The hoistable platform includes first base, is arranged on described first
The first elevating mechanism on pedestal and for stacking the first flat component of glass and driving the first flat component lifting,
First flat component includes multiple first tablets, and multiple first tablets prolong respectively along the extending direction of the traverse rod
It stretches, and alternate setting in said first direction；The walking overturning platform includes second base, is arranged on the second base
The second flat component upper and that the glass on first flat component is overlayed for loading and driving second tablet
The first switching mechanism that component flips to the outside, second flat component include multiple second tablets, and multiple described second is flat
Plate respectively along the traverse rod extending direction extend, and in said first direction it is alternate setting and with multiple first tablets
Stagger respectively；The walking overturning platform further includes the second idler wheel for being arranged on the second base bottom and driving described second
The 3rd force piece that the extending direction of idler wheel along the traverse rod moves.
Further, each stacking platform group includes two rotary turning platforms, each stacking platform group
In two rotary turning platforms in said first direction side by side and alternate setting；Each rotary turning platform
Include the 3rd pedestal, be arranged on the 3rd pedestal the second shaft, be connected in second shaft turntable, be used for
It drives the 4th force piece that the turntable rotates around the axis of second shaft, be arranged on the turntable and for stacking glass
The second switching mechanism that the returning face plate and the driving returning face plate of glass flip to the outside, second shaft are set in vertical；
Each rotary turning platform further includes the 3rd idler wheel for being arranged on the 3rd base bottom and drives the 3rd idler wheel
The 5th force piece moved along the first direction.
It is compared with the prior art, full-automatic glass horizontal stacking provided by the invention, using servo-actuated frame, servo-actuated frame makes suction
Plate rail can in the same direction be moved while glass is drawn with the identical speed of glass translational speed with glass, and in moving process
Glass is sucked, stacking is carried out departing from glass production line and being placed in stacking platform group glass, in this way, can exist in glass
It is drawn while movement on glass production line, static without waiting for glass, this improves capture efficiency, and glass
Glass crawl process stabilization is not susceptible to accident, reduces the stacking time of every piece of glass plate, improves production efficiency.
Be compared with the prior art, after being declined by being servo-actuated frame the direction opposite with glass moving direction be moved to outermost end into
Row waits, and when glass enters and draws below host, suction cup carrier continues to decline and moves speed while glass is drawn with glass
It spends identical speed to move in the same direction with glass, glass is sucked in suction cup carrier moving process, in such manner, it is possible to right in glass traveling
It is captured, and glass crawl is more convenient and firm, improves crawl and production efficiency.
Description of the drawings
Fig. 1 is being moved up along glass in glass production line for the full-automatic glass horizontal stacking that the embodiment of the present invention one provides
The structure diagram in dynamic direction；
Fig. 2 be the embodiment of the present invention one provide absorption host along glass, the structure of moving direction on glass production line is shown
It is intended to；
Fig. 3 is the structural representation along the first direction for the full-automatic glass horizontal stacking that the embodiment of the present invention one provides
Figure；
Fig. 4 is the decomposition diagram that host is drawn in Fig. 3；
Fig. 5 is the structure diagram of suction cup carrier, mobile device and rotating device that the embodiment of the present invention one provides；
Fig. 6 is the overlooking simplified schematic for the full-automatic glass horizontal stacking that the embodiment of the present invention one provides；
Fig. 7 is being moved up along glass in glass production line for full-automatic glass horizontal stacking provided by Embodiment 2 of the present invention
The structure diagram in dynamic direction；
Fig. 8 is the overlooking simplified schematic of full-automatic glass horizontal stacking provided by Embodiment 2 of the present invention.
Specific embodiment
In order to which technical problems, technical solutions and advantages to be solved are more clearly understood, tie below
Accompanying drawings and embodiments are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used
To explain the present invention, it is not intended to limit the present invention.
Full-automatic glass horizontal stacking provided by the invention, for being drawn to the glass on glass production line and water
Flat stacking, including being erected at traverse rod above glass production line, at least one stacking platform group and at least one for should
The glass of glass production line moves at least one stacking platform group the absorption host for carrying out stacking, at least one stacking after drawing
Platform group is arranged on the extending direction of traverse rod and positioned at the lower section of at least one absorption host.At least one absorption host includes
The fixed frame that is connected on traverse rod drives running gear that the extending direction of fixed frame along traverse rod moves, is arranged on fixation
Movable frame in frame, for drive movable frame be relatively fixed lifting gear that frame moves up and down, movable frame to
The suction cup carrier of the glass on glass production line is drawn when lower mobile and for suction cup carrier to be made to be given birth to respect to movable frame along the glass
The mobile device of the moving direction movement of glass in producing line.Mobile device is connected respectively with movable frame and suction cup carrier, sucker
Frame is equipped with to draw the pick-up component of glass.
Full-automatic glass horizontal stacking provided by the invention, using servo-actuated frame, servo-actuated frame enables suction cup carrier drawing
It is moved in the same direction with glass with the identical speed of glass translational speed while glass, and glass is sucked in moving process, incited somebody to action
Glass, which departs from glass production line and is placed in stacking platform group, carries out stacking, in this way, can be in glass on glass production line
It is drawn while mobile, static without waiting for glass, this improves crawl efficiency, and glass crawl process is steady
Surely accident is not susceptible to, reduces the stacking time of every piece of glass plate, improves production efficiency.
The realization of the present invention is described in detail below in conjunction with specific attached drawing.
Embodiment one
As shown in Figures 1 to 6, it is a preferred embodiment provided by the invention.
In the present embodiment, floatation glass production line 200 (hereinafter, for simplicity, which is reduced to
" glass production line ") include one and (which hereinafter, for simplicity, is reduced to " glass for conveying glass plate 201
Glass ") rollgang 202, put the glass 201 that polylith is arranged side by side two-by-two on the rollgang 202, glass 201 can phase
To glass production line 200, D1 (moving direction in the D1 directions, i.e. glass of diagram) is mobile along the first direction.
Full-automatic glass horizontal stacking 100 provided in this embodiment, including the component truss 1, two with traverse rod 11
Stacking platform group 2 and two absorption hosts 3.Two absorption hosts 3 are mounted on the traverse rod 11 of component truss 1, and can be drawn
Moved out against after glass 201, by glass 201 be placed in stacking platform group 2 backward 200 direction of glass production line it is opposite to
Interior movement waits and draws next next glass 201 into 3 lower section of absorption host.
Certainly, the quantity for drawing host 3 can also be four, six, eight etc., and D1 is laid in along the first direction in couples
On glass production line 200, the quantity of stacking platform group 2 is corresponding with drawing host 3.
Component truss 1 is made of plurality of rods part, is set up in the production line, one of rod piece forms traverse rod 11, traverse rod 11
Extending direction D2 and first direction D1 it is perpendicular in same level.
Two absorption hosts 3, are movably mounted on traverse rod 11.Two absorption hosts 3 include fixed frame 31, row
Walking apparatus 32, movable frame 33, lifting gear 34, suction cup carrier 35 and mobile device 36.
Fixed frame 31 is movably mounted on traverse rod 11, referring to Fig. 1 to Fig. 4, is provided on fixed frame 31 multiple
For being supported on the first idler wheel 311 on traverse rod 11, multiple first idler wheels 311 are rolled with traverse rod 11 to be coordinated, and the first rolling
It is consistent with the extending direction D2 of traverse rod 11 to take turns 311 rotating directions, i.e., fixed frame 31 can be in traverse rod 11 by the first idler wheel 311
On moved left and right along the extending direction D2 of traverse rod 11.Fixed frame 31 is square frame (can also be the cylinder of downwardly facing opening),
It includes the rod piece that four verticals are set, and opening is formed on bottom.
Running gear 32, for fixed frame 31 to be driven to be relatively moved on traverse rod 11.Referring to Fig. 1 to Fig. 4, in traverse rod 11
On a rack 37 is installed, rack 37 extends along the extending direction D2 of traverse rod 11.Running gear 32 includes being fixedly mounted on fixation
Mobile base 321 on frame 31, the first force piece 322 being fixedly mounted on the Mobile base 321 and by first force piece
The first gear 323 of 322 driving rotations, first gear 323 coordinate with 37 grinding tooth of rack, and the first force piece 322 is servomotor
(can also be variable-frequency motor), first gear 323 be installed in rotation on the output shaft of the servomotor.Pass through servomotor
Driving first gear 323 rotates, and first gear 323 moves left and right on rack 37, so as to drive fixed frame 31 in traverse rod 11
On move left and right.
Movable frame 33, substantially cross sectional dimensions are less than the square frame (can also be cylinder) of fixed frame 31.Ginseng
See Fig. 1 to Fig. 4, most of area of movable frame 33 is arranged in fixed frame 31 and can relatively move up and down, activity box
The bottom of frame 33 is stretched out at the bottom opening of fixed frame 31.
Lifting gear 34 moves up and down for movable frame 33 to be driven to be relatively fixed frame 31, referring to Fig. 1 to Fig. 4, lifting
Device 34 includes 341 and second force piece 342 of chain.One end of chain 341 is fixedly connected on the top of movable frame 33, around
It crosses after a fixed wheel (not shown) to be fixed on and be connected on the second force piece 342, the second force piece 342 (also may be used for servomotor
To be variable-frequency motor), it is fixedly mounted on the top of fixed frame 31, the output shaft of the servomotor is another with chain 341
End is fixedly connected, when servomotor winds chain 341, by the way that chain 341 is pulled to realize the raising and lowering of movable frame 33.
In order to increase the rising reset capability of movable frame 33, increase by two promotion auxiliary between movable frame 33 and fixed frame 31
Tension spring 343, two tension springs 343 are separately mounted to the both sides of chain 341, and one end and the top of fixed frame 31 of tension spring 343 are consolidated
Fixed, the bottom of the other end and movable frame 33 is fixed.When movable frame 33 moves down, tension spring 343 stretches and forms certain return
Multiple power after movable frame 33 draws heavier glass 201, starts the second force piece 342 and pulls up movable frame 33, simultaneously
The restoring force of tension spring 343 forms auxiliary pulling force, convenient for movable frame 33 is risen reset, to reduce load.
Suction cup carrier 35, for drawing the glass 201 on glass production line 200, bag when movable frame 33 moves down
It includes a main frame 351 and is used to draw the pick-up component 352 of glass 201 on the main frame 351.Referring to Fig. 1 to figure
4, main frame 351 is fixedly connected with mobile device 36, and can be under the drive of mobile device 36 in the horizontal plane with respect to activity box
Frame 33 moves.In the present embodiment, 352 quantity of pick-up component on main frame 351 is eight, two-by-two side by side and alternate setting,
Each pick-up component 352 includes a vacuum cup 3521 and the soup stick 3522 of the vacuum cup 3521 connection, soup stick 3522
The other end be connected on air pump (not shown), when suction cup carrier 35 is pressed on glass 201, soup stick 3522 is by vacuum cup
Evacuating air in 3521 so that glass 201 is sucked by vacuum cup 3521, and drives movement by suction cup carrier 35；It is right during stacking
Vacuum cup 3521 is blown, so that glass 201 is separated with vacuum cup 3521.
Mobile device 36, for driving suction cup carrier 35, relative to movable frame 33, D1 is moved along the first direction, referring to Fig. 1 to figure
4, mobile device 36 includes setting the servo-actuated frame 361 of 33 bottom of movable frame and for driving servo-actuated frame 361 with respect to movable frame
The 33 servo-actuated frame driving mechanisms 362 that D1 is moved horizontally along the first direction, suction cup carrier 35 are installed on servo-actuated frame 361.Servo-actuated frame drives
Motivation structure 362 includes the nut seat (not shown) being fixedly mounted on servo-actuated frame 361, matches somebody with somebody with nut seat (not shown) screw thread
The drive lead screw (not shown) of conjunction and the first motor 3623 for driving (not shown) rotation of the drive lead screw, this
One motor 3623 is servomotor or variable-frequency motor, and the axis of screw is parallel with first direction D1.
Certainly, it is servo-actuated frame driving mechanism 362 and can also be V belt translation, chain drive or rack pinion structure.Wherein, band
Transmission can be by synchronous belt, synchronizing wheel and the first motor 3623 that the synchronizing wheel rotates is driven to drive servo-actuated frame to realize
361 movements；Chain drive can be by chain, chain pitch wheel and the first motor 3623 of chain pitch wheel rotation is driven to realize
The servo-actuated frame 361 of driving moves；Rack pinion can be by rack, gear and the first motor that the gear is driven to rotate
3623 move to realize that driving is servo-actuated frame 361.
In order to make 201 stacking of glass more neat, draw host 3 and further include a rotating device 38 and position detecting device 39.
Referring to Fig. 2 to Fig. 4 and Fig. 6, rotating device 38 includes first rotating shaft 381 and rotary drive mechanism 382.The bottom of first rotating shaft 381
End is fixedly connected with servo-actuated frame 361, and top is mounted on the bottom of movable frame 33 by bearing so that servo-actuated frame 361 and
The connection of movable frame 33 can simultaneously be rotated relative to axis of the movable frame 33 around first rotating shaft 381.Rotary drive mechanism 382 includes solid
The gear ring 3821 and the planetary gear (not shown) of 3821 grinding tooth of gear ring cooperation and drive that Dingan County is mounted on servo-actuated frame 361
The second motor 3823 of (not shown) rotation of the planetary gear is moved, the second motor 3823 is mounted in movable frame 33, and second
The output shaft of motor 3823 extends downwardly, and gear ring 3821 is connected to horizontally disposedly on the output shaft of the second motor 3823, and is set
It puts in gear ring 3821 (can certainly be that grinding tooth coordinates on 3821 periphery of gear ring).It, can by rotary drive mechanism 382
Servo-actuated frame 361, suction cup carrier 35 and the glass 201 that is drawn is made to rotate certain angle in level.It should be noted that glass
Glass 201 on production line 200 is square, and glass 201 includes the first side wall 201a and adjacent with the first side wall 201a
The extending direction and first direction D1 of second sidewall 201b, the first side wall 201a are essentially identical, the first side wall 201a and the second side
Wall 201b is perpendicular.After being drawn due to glass 201, there is certain folder between the first side wall 201a and first direction D1
Angle that is, there are misalignment angle, therefore, the extending direction and first direction of the first side wall 201a is made by rotary drive mechanism 382
D1 mono-, which shows, eliminates the misalignment angle.Position detecting device 39, for detecting the side wall of glass 201 and 201 side of movement of glass
To misalignment angle and detect spacing between the side wall and first rotating shaft 381.D1 along the first direction is installed on the servo-actuated frame 361
The first installing plate (not shown) extended and the second installing plate (not shown) of the extending direction D2 extensions along traverse rod 11.Position
Putting detection device 39 can including first position sensor, second position sensor and the third place sensor, position sensor
To be optoelectronic switch or approach switch.First position sensor, second position sensor side by side and alternate are arranged on the second peace
In loading board, the third place sensor is arranged on the centre of the first installing plate.Suction cup carrier 35 be drawn into after glass 201, pass through
To 201 the second side of spacing, second position sensor and glass between 201 second sidewall 201b of first position sensor and glass
The mathematic interpolation of spacing between wall 201b draws the 201 moving direction deviation of the first side wall 201a and glass of detection glass 201
Angle, meanwhile, the third place sensor calculates spacing between the first side wall 201a of glass 201 and first rotating shaft 381,
To draw running gear 32 on traverse rod 11 to the distance of the movement of stacking platform group 2.Start 382 rotary glass of rotary drive mechanism
201 carry out position correction, to eliminate the misalignment angle, so as to accurately stack each block of glass 201 in same position.
Certainly, in position detecting device 39, first position sensor, second position sensor and the third place sensor
It may be mounted on fixed frame 31, movable frame 33 or rollgang 202.
For the ease of glass is stored in warehouse, each stacking platform group 2 includes the extending direction D2 along traverse rod 11
It is subsequently placed at a hoistable platform 21 and a walking overturning platform 22 in 200 outside of glass production line.Referring to Fig. 1 and Fig. 3,
Hoistable platform 21 is arranged on the one side of glass production line 200 and positioned at 3 lower section of host is drawn, and including first base 211, is arranged on
In first base 211 and for stacking the first flat component 212 of glass 201 and driving the lifting of the first flat component 212
First elevating mechanism 213, the first flat component 212 include multiple first tablets 2121, and multiple first tablets 2121 are respectively along horizontal stroke
The extending direction D2 extensions of rail 11, and alternate setting in the first direction dl.It is (not shown that first elevating mechanism 213 includes crank
Go out), the connecting rod (not shown) that is connected with the crank and the motor (not shown) (certainly, first for crank to be driven to rotate
Elevating mechanism 213 can also be by upgrading cylinder or all can realize the equipment of lifting in the prior art).Walking overturning platform
22 are arranged on corresponding 21 outside of hoistable platform, can be moved left and right on the extending direction D2 of traverse rod 11, will when moving inward
The glass 201 being stacked on hoistable platform 21 is loaded into, and the glass 201 being loaded onto is displaced outwardly being placed.Walking overturning is flat
Platform 22 includes second base 221, is arranged in second base 221 and for loading the glass overlayed on the first flat component 212
The first switching mechanism 223 that the second flat component 222 and the second flat component 222 of driving of glass 201 flip to the outside, second
Flat component 222 includes multiple second tablets 2221, and multiple second tablets 2221 extend respectively along the extending direction D2 of traverse rod 11,
And in the first direction dl it is alternate set and stagger respectively with multiple first tablets 2121.It is flat to lifting in walking overturning platform 22
Platform 21 move when, the first flat component 212 of hoistable platform 21 rises together together with glass 201, the second flat component 222 into
After entering immediately below the first flat component 212, the first flat component 212 declines together together with glass 201, when being stacked in the bottom
After 201 bottom surface of glass is connected to the surface of the second flat component 222, first flat component 212 continues to move down and stack
Glass 201 separates, and walking overturning platform 22 drives the glass 201 of other side on it to exit outward, and the first flat component 212 is extensive
Restore next glass 201 to be placed such as position.Second flat component, 222 outer end is hinged with second base 221, the first switching mechanism
223 include overturning oil cylinder, and one end of the overturning oil cylinder and the inside of the second flat component 222 are hinged, and the other end is hinged on second
On pedestal 221.Walking overturning platform 22 further includes the second rolling of the second idler wheel 224 for being arranged on 221 bottom of second base and driving
The 3rd force piece 225 that wheel 224 is moved along the extending direction D2 of traverse rod 11, the 3rd force piece 225 are servomotor or variable-frequency electric
Machine.Walking overturning platform 22, which moves into the glass 201 being placed on it in warehouse, to be stored, and improves the efficiency of storage.
The present invention also provides a kind of 201 clamp methods of glass, and in 201 clamp method of glass, glass production line 200 carries
One is supplied for conveying the rollgang 202 of glass 201, glass 201 has adjacent the first side wall 201a and second sidewall
201b；
Glass 201 first on glass production line 200 enters before the lower section for drawing host 3, passes through lifting gear 34
The movable frame 33 for being connected with suction cup carrier 35 is extended downwardly, meanwhile, suction cup carrier 35 court and glass under the driving of mobile device 36
The opposite direction of 201 moving directions is moved to outermost end, and suction cup carrier 35 and rollgang are left between 202 surface for glass 201
The preset space length of entrance waits the entrance of glass 201；
Behind underface of the glass 201 into suction cup carrier 35, suction cup carrier 35 continues to move down towards 201 surface of glass；It is inhaling
When taking 352 201 surface of pressed glass of component, driving suction cup carrier 35 with glass 201 towards with 201 moving direction of glass and to move speed
Spend identical speed and move a short distance, mobile while pick-up component 352 to 201 surface air-breathing of glass so that glass
201 are sucked by suction cup carrier 35；
It after glass 201 is sucked by suction cup carrier 35, is risen with suction cup carrier 35, glass 201 is separated with rollgang 202；
The absorption host 3 additionally provides position detecting device 39 and rotating device 38, and position detecting device 39 includes first
Position sensor, second position sensor and the third place sensor, pass through first position sensor and second position sensor
The misalignment angle between 201 moving direction of the first side wall 201a and glass is measured with the difference of second sidewall 201b respectively, by
The third place sensor measures the distance with the first side wall 201a, and the glass 201 after rotation detection is simultaneously modified its position,
To eliminate the misalignment angle, while suction cup carrier 35 returns to centre bit；Suction cup carrier 35 is promoted to upper limit, and starts to put down to stacking
2 direction of platform group is walked, and carries out stacking glass 201；After stacking completes a cycle, 202 top of rollgang, suction cup carrier are returned to
35 decline and are moved to outermost end towards the direction opposite with 201 moving direction of glass, wait the entrance of next 201 plate of sheet glass.
Embodiment two
Below in conjunction with attached drawing 7 and Fig. 8, only just elaborate with one difference of embodiment：
Each stacking platform group 2 includes two rotary turning platforms 23, and two rotations in each stacking platform group 2 are turned over
Turn platform 23 in the first direction dl side by side and alternate setting.Each rotary turning platform 23 includes the 3rd pedestal
231st, 232, turntables 233 of second shaft, for driving disc 233 around the second shaft 232 axis rotate the 4th
The second switching mechanism 236 that force piece (not shown), a returning face plate 235 and driving returning face plate 235 flip to the outside.The
Three pedestals, 231 bottom is provided with the 3rd idler wheel 237 and the 3rd idler wheel 237 of driving the 5th force piece that D1 is moved along the first direction
(not shown), when a rotary turning platform 23 carries out placing glass 201 into 3 lower section of absorption host, another rotation
Overturning platform 23 is waited for, and after glass 201 are filled positioned at the rotary turning platform 23 for drawing 3 lower section of host, is carried dynamic
Glass 201 is displaced outwardly and by 201 stacking of glass to 201 frame of glass (not shown), while another rotary turning platform
23 carry out placing glass 201 into 3 lower section of host is drawn, and (not shown) the 5th force piece is servomotor or variable-frequency motor.
Second shaft 232 is arranged in vertical on the 3rd pedestal 231, and passes through the 4th force piece the second shaft of (not shown) driving
232 rotations, turntable 233 is connected in the second shaft 232, and is rotated together while the second shaft 232 rotates.Returning face plate
235, for stacking glass 201, the outer end of returning face plate 235 is hinged with the 3rd pedestal 231, and the second switching mechanism 236 includes turning over
Turn oil cylinder), one end and the inside of returning face plate 235 of the overturning oil cylinder are hinged, and the other end is hinged on the 3rd pedestal 231.
The foregoing is merely a prefered embodiment of the invention, is not intended to limit the invention, it is all the present invention spirit and
Any modification, equivalent substitution or improvement for being made within principle etc., should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of full-automatic glass horizontal stacking, for carrying out absorption and horizontal stacking to the glass on glass production line,
It is characterized in that：Including traverse rod, at least one stacking platform group and at least one use being erected above the glass production line
It is moved to after the glass of the glass production line is drawn at least one stacking platform group and carries out the absorption master of stacking
Machine；
At least one host of drawing includes the fixed frame being connected on the traverse rod, the driving fixed frame described in
The running gear of the extending direction movement of traverse rod, the movable frame being arranged in the fixed frame, for driving the activity
Lifting gear that the relatively described fixed frame of frame moves up and down draws the glass life when the movable frame moves down
The suction cup carrier of the glass in producing line and for making the relatively described movable frame of suction cup carrier along the institute on the glass production line
State the mobile device of the moving direction movement of glass；The mobile device connects respectively with the movable frame and the suction cup carrier
It connects, the suction cup carrier is equipped with to draw the pick-up component of the glass；The glass on the glass production line into
Before the lower section for entering the absorption host, the movable frame for being connected with suction cup carrier is declined by lifting gear, while the suction
Plate rail is moved to outermost end towards the direction opposite with the glass moving direction, and the suction cup carrier is defeated with the glass production line
The preset space length for leaving between roller-way and entering for glass is sent, waits the entrance of the glass；When the glass enters the sucker
Behind the underface of frame, the suction cup carrier continues to move down towards the glass surface；The glass surface is compressed in the pick-up component
The suction cup carrier is driven to be moved towards with the glass moving direction and with the speed identical with the glass translational speed simultaneously；Institute
It states suction cup carrier the glass is risen and is moved in the stacking platform group and carry out stacking.
2. full-automatic glass horizontal stacking according to claim 1, it is characterised in that：The mobile device includes setting
The servo-actuated frame of the movable frame bottom and for driving the servo-actuated frame that the relatively described movable frame of the servo-actuated frame moves horizontally
Driving mechanism, the suction cup carrier are installed on the servo-actuated frame.
3. full-automatic glass horizontal stacking according to claim 2, it is characterised in that：The absorption host further includes one
Rotating device, the rotating device include the first rotating shaft being connected respectively with the movable frame and the servo-actuated frame and are used for
The rotary drive mechanism that the servo-actuated frame is driven to be rotated around the axis of the first rotating shaft, the axis of the first rotating shaft is in vertical
It sets.
4. full-automatic glass horizontal stacking according to claim 3, it is characterised in that：The glass has one side wall,
The host of drawing further includes to detect the side wall of the glass and the glass moving direction misalignment angle and detection
The position detecting device of spacing between the side wall and the first rotating shaft.
5. full-automatic glass horizontal stacking according to claim 1, it is characterised in that：It is provided on the fixed frame
It is multiple to extend along direction for being supported on the first idler wheels on the traverse rod, on the traverse rod and be installed with a rack, institute
State running gear include be fixedly connected with the fixed frame Mobile base, with the rack grinding tooth cooperation first gear and
For driving the first force piece that the first gear rotates, first force piece is installed on the Mobile base.
6. full-automatic glass horizontal stacking according to claim 1, it is characterised in that：The lifting gear includes difference
The chain being connected with the fixed frame and the movable frame and the second force piece for pulling the chain.
7. full-automatic glass horizontal stacking according to any one of claim 1 to 6, it is characterised in that：The glass
Glass on production line can relatively described glass production line move along the first direction, the extending direction of the traverse rod and described the
One direction is vertically arranged in same level；The full-automatic glass horizontal stacking includes being disposed side by side on the traverse rod
And can relatively move two are described draws hosts and described draw the corresponding two stacking platforms of host with two
Group.
8. full-automatic glass horizontal stacking according to claim 7, it is characterised in that：Each stacking platform group is equal
Including the hoistable platform being subsequently placed at along the extending direction of the traverse rod on the outside of the glass production line and walking overturning platform；
The hoistable platform include first base, be disposed on the first base and for stack glass the first flat component and
The first elevating mechanism of the first flat component lifting is driven, first flat component includes multiple first tablets, multiple
First tablet extends respectively along the extending direction of the traverse rod, and alternate setting in said first direction；The walking
Overturning platform includes second base, is arranged in the second base and overlayed for loading on first flat component
The first switching mechanism that the second flat component and driving second flat component of glass flip to the outside, described second is flat
Plate component includes multiple second tablets, and multiple second tablets extend respectively along the extending direction of the traverse rod, and described
It is alternate on first direction to set and stagger respectively with multiple first tablets；The walking overturning platform, which further includes, is arranged on institute
The 3rd power stated the second idler wheel of second base bottom and the extending direction of the second idler wheel along the traverse rod is driven to move
Part.
9. full-automatic glass horizontal stacking according to claim 7, it is characterised in that：Each stacking platform group is equal
Including two rotary turning platforms, two rotary turning platforms in each stacking platform group are in the first party
Upwards side by side and alternate setting；Each rotary turning platform includes the 3rd pedestal, is arranged on the 3rd pedestal
Second shaft, the turntable being connected in second shaft, for drive the turntable around second shaft axis rotate
The 4th force piece, be arranged on the turntable and outwards turn on one's side for stacking the returning face plate of glass and the driving returning face plate
The second switching mechanism turned, second shaft are set in vertical；Each rotary turning platform further include be arranged on it is described
3rd idler wheel of the 3rd base bottom and the 5th force piece that the 3rd idler wheel is driven to be moved along the first direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510073976.6A CN105984729B (en) | 2015-02-11 | 2015-02-11 | Full-automatic glass horizontal stacking |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510073976.6A CN105984729B (en) | 2015-02-11 | 2015-02-11 | Full-automatic glass horizontal stacking |
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| CN105984729A CN105984729A (en) | 2016-10-05 |
| CN105984729B true CN105984729B (en) | 2018-05-22 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106391515B (en) * | 2016-11-18 | 2023-02-07 | 山东爱而生智能科技有限公司 | Ceramic tile on-line sorting device |
| CN106335787B (en) * | 2016-11-18 | 2023-10-13 | 山东爱而生智能科技有限公司 | Online ceramic tile sorting device and workflow thereof |
| CN107915057B (en) * | 2017-10-27 | 2020-04-10 | 安徽艾普智能装备有限公司 | Efficient sign indicating number material manipulator |
| CN108773682B (en) * | 2018-07-02 | 2024-07-30 | 杭州西奥电梯有限公司 | Reinforcing rib stacking system and method based on assembly line |
| CN112623753B (en) * | 2020-11-03 | 2022-09-23 | 金凯达（佛山）智能装备有限公司 | Automatic feeding method of rectangular pipe |
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| CN105984729A (en) | 2016-10-05 |
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