CN108002034A - A kind of glass access device and storage, the method for crawl glass - Google Patents
A kind of glass access device and storage, the method for crawl glass Download PDFInfo
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- CN108002034A CN108002034A CN201711092281.8A CN201711092281A CN108002034A CN 108002034 A CN108002034 A CN 108002034A CN 201711092281 A CN201711092281 A CN 201711092281A CN 108002034 A CN108002034 A CN 108002034A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/067—Sheet handling, means, e.g. manipulators, devices for turning or tilting sheet glass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/068—Stacking or destacking devices; Means for preventing damage to stacked sheets, e.g. spaces
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Abstract
本发明涉及一种玻璃存取装置及储存、抓取玻璃的方法，玻璃存取装置包括固定支承架、能够相对固定支承架上升或下降的升降支承架，固定支承架的支承杆与升降支承架的支承槽道间隔设置，升降支承架由升降机构驱动而向上或向下移动，从而将玻璃从固定支承架上分离，并由夹紧手爪夹紧玻璃，夹紧手爪由直线驱动机构驱动而沿直线导轨移动，夹紧手爪可将玻璃转移至玻璃存储装置或者玻璃传送装置上。由此，本发明的一种玻璃存取装置及储存、抓取玻璃的方法能够对水平放置的玻璃进行储存或抓取分离，能够实现对玻璃的储存作业或者从玻璃储存装置上抓取玻璃的作业，提高储存玻璃或抓取玻璃的效率，同时避免玻璃在输送过程中出现划伤。
The invention relates to a glass access device and a method for storing and grabbing glass. The glass access device includes a fixed support frame, a lifting support frame that can rise or fall relative to the fixed support frame, a support rod of the fixed support frame and a lifting support frame. The support channels are set at intervals, and the lifting support frame is driven by the lifting mechanism to move up or down, so that the glass is separated from the fixed support frame, and the glass is clamped by the clamping claws, which are driven by a linear drive mechanism Moving along a linear guide, the clamping jaws can transfer the glass to a glass storage device or a glass conveyor. Thus, a glass access device and a method for storing and grabbing glass of the present invention can store or grab and separate horizontally placed glass, and can realize the storage operation of glass or the process of grabbing glass from a glass storage device. Operation, improve the efficiency of storing glass or grabbing glass, and at the same time avoid glass scratches during conveying.
Description
技术领域technical field
本发明涉及一种玻璃存取装置及储存、抓取玻璃的方法，属于玻璃产品生产制造技术领域。The invention relates to a glass access device and a method for storing and grabbing glass, and belongs to the technical field of glass product manufacturing.
背景技术Background technique
在玻璃深加工生产线上，由于工序需求，往往需要从玻璃存储装置中取片上线或将玻璃传送装置传送的玻璃存储到玻璃存储装置中，此两种工序均要求玻璃传送装置与玻璃储存装置精确配合，减免划伤玻璃。尤其是当玻璃深加工生产线节拍快、洁净度要求苛刻、自动化要求高时，必须做到在线精准快速地上、下玻璃片。目前通常采用上下片机或机械手，但是此两种装置均只适合玻璃竖直叠放，与水平堆栈的玻璃储存装置无法实现有效对接，同时上下片过程易划伤玻璃表面。In the glass deep processing production line, due to the process requirements, it is often necessary to take the glass from the glass storage device on the line or store the glass conveyed by the glass conveyor into the glass storage device. , Relief from scratching the glass. Especially when the glass deep processing production line has a fast pace, strict cleanliness requirements, and high automation requirements, it is necessary to accurately and quickly load and unload glass sheets online. At present, loading and unloading machines or robots are usually used, but these two devices are only suitable for vertical stacking of glass, and cannot be effectively docked with horizontally stacked glass storage devices. At the same time, the process of loading and unloading is easy to scratch the glass surface.
因此，针对玻璃深加工生产线上要求能快速在线抓取或者储存玻璃片的问题，需要设计出能够对水平放置的玻璃进行储存或者抓取分离，以满足生产线节拍的情形下实现在线精准快速上下片，同时又能避免玻璃表面划伤。Therefore, in order to solve the problem of fast online grabbing or storage of glass sheets on the glass deep processing production line, it is necessary to design a glass that can store or grab and separate horizontally placed glass, so as to realize online accurate and fast loading and unloading of the glass sheet while meeting the beat of the production line. At the same time, it can avoid scratches on the glass surface.
发明内容Contents of the invention
鉴于以上所述现有技术的缺点，本发明的目的在于提供一种玻璃存取装置及储存、抓取玻璃的方法，能够对水平放置的玻璃进行储存或抓取分离。In view of the above-mentioned shortcomings of the prior art, the object of the present invention is to provide a glass access device and a method for storing and grabbing glass, which can store or grab and separate horizontally placed glass.
为实现上述目的，本发明提供一种玻璃存取装置，采用如下技术方案：一种玻璃存取装置，包括机架、固定支承架、升降支承架和控制装置，所述固定支承架和升降支承架连接在机架上；所述固定支承架包括多根用于支承玻璃且平行设置的支承杆，支承杆上连接有支承滚轮；所述升降支承架包括多条用于支承玻璃且平行设置的支承槽道，支承槽道中设有支承滚子；所述支承杆与支承槽道间隔设置，升降支承架由升降机构驱动而向上或向下移动，从而使得支承滚子高出或低于支承滚轮；所述机架上设有平行于所述支承杆的直线导轨、滑动连接在直线导轨上的夹紧手爪，所述夹紧手爪用于夹紧玻璃，夹紧手爪由直线驱动机构驱动而在直线导轨的首端和末端之间往复移动；所述升降机构、直线驱动机构和夹紧手爪均与控制装置连接；所述固定支承架的一侧设有玻璃传送装置，直线导轨的末端设有玻璃储存装置。In order to achieve the above object, the present invention provides a glass access device, which adopts the following technical solution: a glass access device, including a frame, a fixed support frame, a lifting support frame and a control device, the fixed support frame and the lifting support The frame is connected on the frame; the fixed support frame includes a plurality of support rods which are used to support the glass and are arranged in parallel, and the support rods are connected with supporting rollers; the lifting support frame includes a plurality of which are used to support the glass and are arranged in parallel The support channel is provided with support rollers; the support rods are arranged at intervals from the support channel, and the lifting support frame is driven by the lifting mechanism to move upward or downward, so that the support rollers are higher than or lower than the support rollers ; The frame is provided with a linear guide rail parallel to the support rod, and a clamping claw slidingly connected on the linear guide rail, the clamping claw is used for clamping the glass, and the clamping claw is driven by a linear drive mechanism Drive to move back and forth between the head end and the end of the linear guide rail; the lifting mechanism, the linear drive mechanism and the clamping claw are all connected to the control device; one side of the fixed support frame is provided with a glass transmission device, and the linear guide rail There is a glass storage device at the end.
优选地，所述支承杆上连接有多个支承滚轮，支承滚轮与支承杆同轴设置；所述支承槽道中设有多个支承滚子，支承滚子的转轴垂直于支承杆。Preferably, a plurality of support rollers are connected to the support rod, and the support rollers are arranged coaxially with the support rod; a plurality of support rollers are arranged in the support channel, and the rotation axes of the support rollers are perpendicular to the support rod.
优选地，所述玻璃传送装置传送玻璃的方向垂直于支承杆。Preferably, the direction in which the glass conveying device conveys the glass is perpendicular to the support rod.
优选地，所述夹紧手爪安装在一横梁上，夹紧手爪包括上夹板和下夹板，下夹板固定在横梁上，上夹板由电动推杆驱动而向下靠近下夹板或向上远离下夹板，电动推杆与控制装置连接。Preferably, the clamping jaws are installed on a beam, the clamping jaws include an upper clamping plate and a lower clamping plate, the lower clamping plate is fixed on the beam, and the upper clamping plate is driven by an electric push rod to move downwards close to the lower clamping plate or upwards away from the lower clamping plate The splint and the electric push rod are connected with the control device.
优选地，所述横梁上连接有两个夹紧手爪。Preferably, two clamping claws are connected to the beam.
优选地，所述夹紧手爪上设有与控制装置相连的限位传感器，当上夹板和下夹板夹紧或松开玻璃时，限位传感器向控制装置发出信号。Preferably, the clamping claw is provided with a limit sensor connected to the control device, and when the upper clamping plate and the lower clamping plate clamp or loosen the glass, the limit sensor sends a signal to the control device.
优选地，所述固定支承架上设有与控制装置相连的玻璃检测传感器，当玻璃到达固定支承架上时，玻璃检测传感器向控制装置发出信号。Preferably, the fixed support frame is provided with a glass detection sensor connected to the control device, and when the glass reaches the fixed support frame, the glass detection sensor sends a signal to the control device.
优选地，所述直线导轨上设有与控制装置相连的位置检测传感器，当夹紧手爪移动至直线导轨的首端或末端时，位置检测传感器向控制装置发出信号。Preferably, the linear guide rail is provided with a position detection sensor connected to the control device, and when the clamping jaw moves to the head or end of the linear guide rail, the position detection sensor sends a signal to the control device.
如上所述，本发明的一种玻璃存取装置具有如下有益效果：在本发明的一种玻璃存取装置中，如果需要将玻璃从玻璃传送装置上转移至存取玻璃储存装置上，则在初始状态时，控制装置控制升降机构带动升降支承架向下移动而使支承滚子低于支承滚轮，并且控制直线驱动机构驱动夹紧手爪移动至直线导轨首端；然后，玻璃传送装置向固定支承架上传送一块玻璃，玻璃支承在支承滚轮上；控制装置再控制升降机构向上运动而带动升降支承架将固定支承架上的玻璃顶起而使玻璃支承在升降支承架上；控制装置再控制夹紧手爪夹紧升降支承架上的玻璃，并且控制装置控制直线驱动机构驱动夹紧手爪向直线导轨末端移动并将玻璃放置到玻璃储存装置上；这样就能将玻璃从玻璃传送装置转移到玻璃储存装置上。如果需要将玻璃从玻璃存储装置上转移至玻璃传送装置上，则在初始状态时，控制装置控制升降机构带动升降支承架向上移动而使支承滚子高于支承滚轮，控制直线驱动机构驱动夹紧手爪移动至直线导轨末端；然后，控制装置控制夹紧手爪从玻璃储存装置上夹取一块玻璃，并控制直线驱动机构驱动夹紧手爪向直线导轨首端移动而将玻璃放置到升降支承架上，玻璃支承在支承滚子上；然后，控制装置控制升降机构带动升降支承架向下运动，并将玻璃落放在固定支承架上，玻璃支承在支承滚轮上；最后，玻璃传送装置将固定支承架上的玻璃运离并传送至后续工位。由此可见，本发明的一种玻璃存取装置能够对水平放置的玻璃进行储存或抓取分离，能够实现对玻璃的储存作业或者从玻璃储存装置上抓取玻璃的作业。As mentioned above, a glass access device of the present invention has the following beneficial effects: in a glass access device of the present invention, if the glass needs to be transferred from the glass transfer device to the access glass storage device, then the In the initial state, the control device controls the lifting mechanism to drive the lifting support frame to move downward so that the support rollers are lower than the support rollers, and controls the linear drive mechanism to drive the clamping claws to move to the head of the linear guide rail; then, the glass conveyor moves to the fixed A piece of glass is conveyed on the supporting frame, and the glass is supported on the supporting rollers; the control device then controls the lifting mechanism to move upward to drive the lifting support frame to lift the glass on the fixed support frame so that the glass is supported on the lifting support frame; the control device then controls The clamping jaw clamps the glass on the lifting support frame, and the control device controls the linear drive mechanism to drive the clamping jaw to move to the end of the linear guide rail and place the glass on the glass storage device; thus the glass can be transferred from the glass conveyor onto the glass storage unit. If it is necessary to transfer the glass from the glass storage device to the glass conveying device, in the initial state, the control device controls the lifting mechanism to drive the lifting support frame to move upward so that the supporting roller is higher than the supporting roller, and controls the linear drive mechanism to drive the clamping The gripper moves to the end of the linear guide rail; then, the control device controls the clamping gripper to pick up a piece of glass from the glass storage device, and controls the linear drive mechanism to drive the gripping gripper to move to the head of the linear guide rail to place the glass on the lifting support On the frame, the glass is supported on the supporting rollers; then, the control device controls the lifting mechanism to drive the lifting supporting frame to move downwards, and the glass is dropped on the fixed supporting frame, and the glass is supported on the supporting rollers; finally, the glass conveying device will The glass on the fixed support frame is removed and transferred to the subsequent station. It can be seen that the glass access device of the present invention can store or grab and separate horizontally placed glass, and can realize the storage operation of glass or the operation of grabbing glass from the glass storage device.
与本发明的一种玻璃存取装置相应地，本发明还提供一种玻璃存储方法，采用如下技术方案：一种玻璃存储方法，采用上述技术方案或其任一优选的技术方案所述的玻璃存取装置进行作业，包括如下步骤：Corresponding to the glass access device of the present invention, the present invention also provides a glass storage method, using the following technical solution: a glass storage method, using the glass described in the above technical solution or any preferred technical solution The operation of the access device includes the following steps:
1)初始状态时，支承滚子低于支承滚轮，夹紧手爪位于直线导轨首端；1) In the initial state, the supporting roller is lower than the supporting roller, and the clamping claw is located at the head end of the linear guide rail;
2)玻璃传送装置向固定支承架上传送一块玻璃，玻璃支承在支承滚轮上；2) The glass conveying device conveys a piece of glass to the fixed supporting frame, and the glass is supported on the supporting rollers;
3)控制装置控制升降机构带动升降支承架向上运动，从而使得支承滚子将固定支承架上的玻璃向上顶起而支承在升降支承架上；3) The control device controls the lifting mechanism to drive the lifting support frame to move upwards, so that the supporting rollers lift the glass on the fixed support frame upwards and support it on the lifting support frame;
4)控制装置控制夹紧手爪夹紧升降支承架上的玻璃；4) The control device controls the clamping claws to clamp the glass on the lifting support frame;
5)控制装置控制直线驱动机构驱动夹紧手爪向直线导轨末端移动并将玻璃放置到玻璃储存装置上；5) The control device controls the linear drive mechanism to drive the clamping claw to move to the end of the linear guide rail and place the glass on the glass storage device;
6)控制装置控制升降机构带动升降支承架向下运动而恢复至初始状态；6) The control device controls the lifting mechanism to drive the lifting support frame to move downward and return to the initial state;
7)控制装置控制直线驱动机构驱动夹紧手爪向直线导轨首端运动而恢复至初始状态。7) The control device controls the linear drive mechanism to drive the clamping claw to move toward the head end of the linear guide rail to return to the initial state.
如上所述，本发明的一种玻璃存储方法能够将玻璃传送装置传送来的玻璃转移至玻璃储存装置上，作业步骤简单，易于操作。As mentioned above, the glass storage method of the present invention can transfer the glass delivered by the glass delivery device to the glass storage device, and the operation steps are simple and easy to operate.
与本发明的一种玻璃存取装置相应地，本发明还提供一种抓取玻璃的方法，采用如下技术方案：一种抓取玻璃的方法，采用采用上述技术方案或其任一优选的技术方案所述的玻璃存取装置进行作业，包括如下步骤：Corresponding to the glass access device of the present invention, the present invention also provides a method for grabbing glass, using the following technical solution: a method for grabbing glass, using the above technical solution or any preferred technology The glass access device described in the program operates, including the following steps:
a)初始状态时，支承滚子高于支承滚轮，夹紧手爪位于直线导轨末端；a) In the initial state, the supporting roller is higher than the supporting roller, and the clamping claw is located at the end of the linear guide rail;
b)控制装置控制夹紧手爪从玻璃储存装置上夹取一块玻璃；b) The control device controls the clamping claw to clamp a piece of glass from the glass storage device;
c)控制装置控制直线驱动机构驱动夹紧手爪向直线导轨首端移动并将玻璃放置到升降支承架上，玻璃支承在支承滚子上；c) The control device controls the linear drive mechanism to drive the clamping claw to move to the head end of the linear guide rail and place the glass on the lifting support frame, and the glass is supported on the support roller;
d)控制装置控制升降机构带动升降支承架向下运动，并将玻璃落放在固定支承架上，玻璃支承在支承滚轮上；d) The control device controls the lifting mechanism to drive the lifting support frame to move downward, and put the glass on the fixed support frame, and the glass is supported on the supporting rollers;
e)玻璃传送装置将固定支承架上的玻璃运离；e) The glass conveying device transports the glass on the fixed support frame away;
f)控制装置控制升降机构带动升降支承架向上运动而恢复至初始状态；f) The control device controls the lifting mechanism to drive the lifting support frame to move upwards and return to the initial state;
g)控制装置控制直线驱动机构驱动夹紧手爪向直线导轨末端运动而恢复至初始状态。g) The control device controls the linear drive mechanism to drive the clamping claw to move to the end of the linear guide rail to return to the initial state.
如上所述，本发明的一种抓取玻璃的方法能够将玻璃储存装置上的玻璃转移至玻璃传送装置上，作业步骤简单，易于操作。As mentioned above, the method for grabbing glass of the present invention can transfer the glass on the glass storage device to the glass conveying device, and the operation steps are simple and easy to operate.
附图说明Description of drawings
图1显示为本发明的一种玻璃存取装置的整体结构立体示意图，图中箭头指示方向为玻璃的传送方向；Fig. 1 is a three-dimensional schematic diagram of the overall structure of a glass access device of the present invention, in which the direction indicated by the arrow is the conveying direction of the glass;
图2显示为本发明的一种玻璃存取装置的整体结构的俯视图；Figure 2 is a top view showing the overall structure of a glass access device of the present invention;
图3显示为从图2中A处所示的箭头指示方向观察的示意图；Fig. 3 is shown as a schematic view viewed from the direction indicated by the arrow shown at A in Fig. 2;
图4显示为本发明的一种玻璃存取装置中固定支承架的俯视图；Fig. 4 shows the top view of the fixed support frame in a glass access device of the present invention;
图5显示为升降支承架的立体结构示意图；Fig. 5 shows the schematic diagram of the three-dimensional structure of the lifting support frame;
图6显示为夹紧手爪与导轨、机架的安装示意图；Figure 6 shows a schematic diagram of the installation of clamping claws, guide rails, and racks;
图7显示为支承槽道与支承滚子的连接示意图；Figure 7 shows a schematic diagram of the connection between the support channel and the support roller;
元件标号说明Component designation description
1 机架 10 横梁1 Rack 10 Beam
2 固定支承架 11 上夹板2 Fixed support frame 11 Upper splint
3 升降支承架 12 下夹板3 Lifting support frame 12 Lower splint
4 支承杆 13 电动推杆4 Support rod 13 Electric push rod
5 支承滚轮 14 限位传感器5 Support rollers 14 Limit sensor
6 支承槽道 15 玻璃检测传感器6 Support channel 15 Glass detection sensor
7 支承滚子 16 位置检测传感器7 Back-up roller 16 Position detection sensor
8 直线导轨 17 升降机构8 Linear guide rail 17 Lifting mechanism
9 夹紧手爪 18 驱动电机9 Clamping jaws 18 Drive motor
具体实施方式Detailed ways
以下由特定的具体实施例说明本发明的实施方式，熟悉此技术的人士可由本说明书所揭露的内容轻易地了解本发明的其他优点及功效。The implementation of the present invention will be illustrated by specific specific examples below, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.
须知，本说明书所附图式所绘示的结构、比例、大小等，均仅用以配合说明书所揭示的内容，以供熟悉此技术的人士了解与阅读，并非用以限定本发明可实施的限定条件，故不具技术上的实质意义，任何结构的修饰、比例关系的改变或大小的调整，在不影响本发明所能产生的功效及所能达成的目的下，均应仍落在本发明所揭示的技术内容得能涵盖的范围内。同时，本说明书中所引用的如“上”、“下”、“左”、“右”、“中间”及“一”等的用语，亦仅为便于叙述的明了，而非用以限定本发明可实施的范围，其相对关系的改变或调整，在无实质变更技术内容下，当亦视为本发明可实施的范畴。It should be noted that the structures, proportions, sizes, etc. shown in the drawings attached to this specification are only used to match the content disclosed in the specification, for those who are familiar with this technology to understand and read, and are not used to limit the implementation of the present invention. Limiting conditions, so there is no technical substantive meaning, any modification of structure, change of proportional relationship or adjustment of size, without affecting the effect and purpose of the present invention, should still fall within the scope of the present invention. The disclosed technical content must be within the scope covered. At the same time, terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description and are not used to limit this specification. The practicable scope of the invention and the change or adjustment of its relative relationship shall also be regarded as the practicable scope of the present invention without any substantial change in the technical content.
如图1至图7所示，本发明提供一种玻璃存取装置，采用如下技术方案：一种玻璃存取装置，包括机架1、固定支承架2、升降支承架3和控制装置，所述固定支承架2和升降支承架3连接在机架1上；所述固定支承架2包括多根用于支承玻璃且平行设置的支承杆4，支承杆4上连接有支承滚轮5；所述升降支承架3包括多条用于支承玻璃且平行设置的支承槽道6，支承槽道6中设有支承滚子7；所述支承杆4与支承槽道6间隔设置，升降支承架3由升降机构17驱动而向上或向下移动，从而使得支承滚子7高出或低于支承滚轮5；所述机架1上设有平行于所述支承杆4的直线导轨8、滑动连接在直线导轨8上的夹紧手爪9，所述夹紧手爪9用于夹紧玻璃，夹紧手爪9由直线驱动机构驱动而在直线导轨8的首端和末端之间往复移动；所述升降机构17、直线驱动机构和夹紧手爪9均与控制装置连接；所述固定支承架的一侧设有玻璃传送装置(图中未显示，玻璃传送装置设置在图1中箭头处，玻璃传送装置用于将玻璃传送向固定支承架或者将固定支承架上的玻璃运离)，直线导轨8的末端设有玻璃储存装置(图中未显示，玻璃储存装置设置在图3的左侧位置，玻璃储存装置用于接收夹紧手爪从升降支承架上抓取的玻璃)。在本发明的一种玻璃存取装置中，如果需要将玻璃从玻璃传送装置上转移至存取玻璃储存装置上，则在初始状态时，控制装置控制升降机构17带动升降支承架3向下移动而使支承滚子7低于支承滚轮5，并且控制直线驱动机构驱动夹紧手爪9移动至直线导轨8首端；然后，玻璃传送装置向固定支承架2上传送一块玻璃，玻璃支承在支承滚轮5上；控制装置再控制升降机构17向上运动而带动升降支承架3将固定支承架2上的玻璃顶起而使玻璃支承在升降支承架3上；控制装置再控制夹紧手爪9夹紧升降支承架3上的玻璃，并且控制装置控制直线驱动机构驱动夹紧手爪9向直线导轨8末端移动并将玻璃放置到玻璃储存装置上；这样就能将玻璃从玻璃传送装置转移到玻璃储存装置上。如果需要将玻璃从玻璃存储装置上转移至玻璃传送装置上，则在初始状态时，控制装置控制升降机构17带动升降支承架3向上移动而使支承滚子7高于支承滚轮5，控制直线驱动机构驱动夹紧手爪9移动至直线导轨8末端；然后，控制装置控制夹紧手爪9从玻璃储存装置上夹取一块玻璃，并控制直线驱动机构驱动夹紧手爪9向直线导轨8首端移动而将玻璃放置到升降支承架3上，玻璃支承在支承滚子7上；然后，控制装置控制升降机构17带动升降支承架3向下运动，并将玻璃落放在固定支承架2上，玻璃支承在支承滚轮5上；最后，玻璃传送装置将固定支承架2上的玻璃运离并传送至后续工位。由此可见，本发明的一种玻璃存取装置能够对水平放置的玻璃进行储存或抓取分离，能够实现对玻璃的储存作业或者从玻璃储存装置上抓取玻璃的作业。As shown in Figures 1 to 7, the present invention provides a glass access device, which adopts the following technical solution: a glass access device, including a frame 1, a fixed support frame 2, a lifting support frame 3 and a control device, the The fixed support frame 2 and the lifting support frame 3 are connected on the frame 1; the fixed support frame 2 includes a plurality of support rods 4 for supporting glass and arranged in parallel, and the support rods 4 are connected with support rollers 5; The lifting support frame 3 includes a plurality of support channels 6 which are used to support the glass and are arranged in parallel. Support rollers 7 are arranged in the support channels 6; The lifting mechanism 17 is driven to move up or down, so that the support roller 7 is higher than or lower than the support roller 5; the frame 1 is provided with a linear guide rail 8 parallel to the support rod 4, which is slidably connected in a straight line The clamping claw 9 on the guide rail 8 is used to clamp the glass, and the clamping claw 9 is driven by a linear drive mechanism to reciprocate between the head end and the end of the linear guide rail 8; The lifting mechanism 17, the linear drive mechanism and the clamping claw 9 are all connected with the control device; one side of the fixed support frame is provided with a glass transfer device (not shown in the figure, the glass transfer device is arranged at the arrow in Fig. 1, and the glass transfer device The transfer device is used to transfer the glass to the fixed support frame or remove the glass on the fixed support frame), the end of the linear guide rail 8 is provided with a glass storage device (not shown in the figure, the glass storage device is arranged on the left side of Figure 3 , the glass storage device is used to receive the glass grabbed by the clamping jaw from the lifting support frame). In a glass access device of the present invention, if the glass needs to be transferred from the glass conveying device to the access glass storage device, then in the initial state, the control device controls the lifting mechanism 17 to drive the lifting support frame 3 to move downward And make the support roller 7 lower than the support roller 5, and control the linear drive mechanism to drive the clamping claw 9 to move to the head end of the linear guide rail 8; on the roller 5; the control device then controls the lifting mechanism 17 to move upward to drive the lifting support frame 3 to lift the glass on the fixed support frame 2 so that the glass is supported on the lifting support frame 3; the control device controls the clamping claw 9 to clamp Tighten the glass on the lifting support frame 3, and the control device controls the linear drive mechanism to drive the clamping claw 9 to move to the end of the linear guide rail 8 and place the glass on the glass storage device; in this way, the glass can be transferred from the glass conveyor to the glass on the storage device. If the glass needs to be transferred from the glass storage device to the glass conveying device, then in the initial state, the control device controls the lifting mechanism 17 to drive the lifting support frame 3 to move upwards so that the support roller 7 is higher than the support roller 5, and controls the linear drive The mechanism drives the clamping claw 9 to move to the end of the linear guide rail 8; then, the control device controls the clamping claw 9 to clamp a piece of glass from the glass storage device, and controls the linear drive mechanism to drive the clamping claw 9 to the linear guide rail 8 The end moves to place the glass on the lifting support frame 3, and the glass is supported on the support roller 7; then, the control device controls the lifting mechanism 17 to drive the lifting support frame 3 to move downward, and put the glass on the fixed support frame 2 , the glass is supported on the support rollers 5; finally, the glass transfer device transports the glass on the fixed support frame 2 away and transfers it to the subsequent station. It can be seen that the glass access device of the present invention can store or grab and separate horizontally placed glass, and can realize the storage operation of glass or the operation of grabbing glass from the glass storage device.
在本发明的一种玻璃存取装置中，固定支承架2上的支撑杆与驱动电机18传动连接，驱动电机18带动支撑杆转动，支承滚轮5可相对支承杆4自由地转动，这样，在玻璃从玻璃传送装置传向固定支承架2的时候，玻璃能够在支承滚轮5上滑动而顺利地传送到固定支承架2上。支承滚子7可以在支承槽道6中自由地转动，这样，当玻璃从升降支承架3传向玻璃储存装置时，玻璃能够在支承滚子7上顺利地滑动到玻璃储存装置上。所述升降机构17驱动升降支承架3向上或向下移动，升降机构17可以通过多种形式来实现，优选地，所述升降机构17可以是轴直角同步电缸或轴直角升降器。优选地，升降机构17的行程为10至500毫米，以满足对堆叠多层玻璃的需求。所述直线驱动机构驱动夹紧手爪9向直线导轨8首端移动，优选地，直线驱动机构可以是直线电机。In a kind of glass access device of the present invention, the support rod on the fixed support frame 2 is connected with the drive motor 18 in transmission, and the drive motor 18 drives the support rod to rotate, and the support roller 5 can rotate freely relative to the support rod 4. In this way, When the glass is transferred to the fixed support frame 2 from the glass conveying device, the glass can slide on the support rollers 5 and be transferred to the fixed support frame 2 smoothly. The support roller 7 can rotate freely in the support channel 6, like this, when the glass is passed to the glass storage device from the lifting support frame 3, the glass can slide smoothly on the support roller 7 to the glass storage device. The lifting mechanism 17 drives the lifting support frame 3 to move up or down. The lifting mechanism 17 can be realized in various forms. Preferably, the lifting mechanism 17 can be a right-angle synchronous electric cylinder or a right-angle lifter. Preferably, the stroke of the lifting mechanism 17 is 10 to 500 millimeters, so as to meet the requirement for stacking multiple layers of glass. The linear drive mechanism drives the clamping claw 9 to move toward the head end of the linear guide rail 8. Preferably, the linear drive mechanism may be a linear motor.
在本发明的一种玻璃存取装置中，如图1所示，所述玻璃传送装置传送玻璃的方向垂直于支承杆4，支承滚轮5与支承杆4同轴设置，玻璃传送至固定支承架2上时，支承滚轮5能够支承玻璃并将玻璃继续移动至完全放在固定支承架2的支承滚轮5上。如图1和图2所示，所述支承杆4上连接有多个支承滚轮5，支承滚轮5与支承杆4同轴设置；所述支承槽道6中设有多个支承滚子7，支承滚子7的转轴垂直于支承杆4。这样，由于支承滚轮5和支承滚子7的转轴相互垂直，玻璃从固定支承架2上的支承滚轮5转移至升降支承架3上的支承滚子7上时，支承滚子7对玻璃具有一定的制动作用，玻璃不容易发生移动错位。如图图1和图3所示，作为一种优选的实施方式，所述夹紧手爪9安装在一横梁10上，夹紧手爪9包括上夹板11和下夹板12，下夹板12固定在横梁10上，上夹板11由电动推杆13驱动而向下靠近下夹板12或向上远离下夹板12，电动推杆13与控制装置连接。在控制装置的控制下，电动推杆13带动上夹板11向下移动而将玻璃夹紧在上夹板11和下夹板12之间，或者电动推杆13向上移动而将玻璃从上夹板11和下夹板12之间松开。为了能够控制夹紧手爪9夹持玻璃的夹紧力，所述夹紧手爪9上设有与控制装置相连的限位传感器14，当上夹板11和下夹板12夹紧或松开玻璃时，限位传感器14向控制装置发出信号，控制装置根据限位传感器14发送的信号而控制电动推杆13的运动。如图1和图6所述，为了使得玻璃所受的夹持力较为均匀，横梁10上连接有两个夹紧手爪9，两个夹紧手爪9可以从玻璃同一侧的边缘夹住玻璃。In a glass access device of the present invention, as shown in Figure 1, the direction of the glass conveying device conveying glass is perpendicular to the support rod 4, the support roller 5 is coaxially arranged with the support rod 4, and the glass is conveyed to the fixed support frame 2, the support rollers 5 can support the glass and continue to move the glass to be placed on the support rollers 5 of the fixed support frame 2 completely. As shown in Figures 1 and 2, a plurality of support rollers 5 are connected to the support rod 4, and the support rollers 5 are arranged coaxially with the support rod 4; a plurality of support rollers 7 are arranged in the support channel 6, The axis of rotation of the support rollers 7 is perpendicular to the support rod 4 . Like this, because the rotating shafts of support roller 5 and support roller 7 are perpendicular to each other, when glass is transferred from support roller 5 on the fixed support frame 2 to support roller 7 on the lifting support frame 3, support roller 7 has a certain effect on the glass. The braking effect of the glass is not easy to move and misalign. As shown in Figures 1 and 3, as a preferred embodiment, the clamping jaw 9 is installed on a beam 10, the clamping jaw 9 includes an upper splint 11 and a lower splint 12, and the lower splint 12 is fixed On the crossbeam 10, the upper splint 11 is driven by the electric push rod 13 to approach the lower splint 12 downwards or move upward away from the lower splint 12, and the electric push rod 13 is connected with the control device. Under the control of the control device, the electric push rod 13 drives the upper splint 11 to move downward to clamp the glass between the upper splint 11 and the lower splint 12, or the electric push rod 13 moves upward to move the glass from the upper splint 11 to the lower splint. The splints 12 are loosened. In order to be able to control the clamping force of the clamping jaw 9 to clamp the glass, the clamping jaw 9 is provided with a limit sensor 14 connected to the control device, when the upper clamping plate 11 and the lower clamping plate 12 clamp or loosen the glass , the limit sensor 14 sends a signal to the control device, and the control device controls the movement of the electric push rod 13 according to the signal sent by the limit sensor 14 . As shown in Figure 1 and Figure 6, in order to make the clamping force on the glass more uniform, two clamping claws 9 are connected to the beam 10, and the two clamping claws 9 can be clamped from the edge of the same side of the glass. Glass.
作为一种优选的实施方式，所述下夹板12通过具有竖直延伸的长腰孔的支撑架(图中未显示)安装到横梁10上，这样，下夹板12在竖直方向的位置可调，可以适应不同规格的玻璃。As a preferred embodiment, the lower clamping plate 12 is installed on the beam 10 through a support frame (not shown in the figure) with a vertically extending long waist hole, so that the position of the lower clamping plate 12 in the vertical direction can be adjusted , can be adapted to different specifications of glass.
为了使得控制装置能够控制升降支承架3将玻璃从固定支承架2上顶起，如图1和图2所示，优选地，所述固定支承架2上设有与控制装置相连的玻璃检测传感器15，当玻璃到达固定支承架2上时，玻璃检测传感器15向控制装置发出信号，控制装置根据玻璃检测传感器15发出的信号来控制升降机构17的动作，当玻璃到达固定支承架2上时，控制装置控制升降机构17带动升降支承架3向上移动而将玻璃从固定支承架2上顶起。为了能够准确地控制夹紧手爪9在直线导轨8上移动的位置，如图1所示，所述直线导轨8上设有与控制装置相连的位置检测传感器16，当夹紧手爪9移动至直线导轨8的首端或末端时，位置检测传感器16向控制装置发出信号，控制装置根据位置检测传感器16发出的信号控制直线驱动机构的动作，当夹紧手爪9移动至直线导轨8的首端或者末端时，控制装置控制直线驱动机构停止动作，从而使得夹紧手爪9在直线导轨8的首端或者末端停止。In order to enable the control device to control the lifting support frame 3 to lift the glass from the fixed support frame 2, as shown in Figures 1 and 2, preferably, the fixed support frame 2 is provided with a glass detection sensor connected to the control device 15. When the glass reaches the fixed support frame 2, the glass detection sensor 15 sends a signal to the control device, and the control device controls the action of the lifting mechanism 17 according to the signal sent by the glass detection sensor 15. When the glass reaches the fixed support frame 2, The control device controls the lifting mechanism 17 to drive the lifting support frame 3 to move upwards to lift the glass from the fixed support frame 2 . In order to accurately control the position of the clamping jaw 9 moving on the linear guide rail 8, as shown in Figure 1, the linear guide rail 8 is provided with a position detection sensor 16 connected to the control device, when the clamping jaw 9 moves When the head end or end of the linear guide rail 8 is reached, the position detection sensor 16 sends a signal to the control device, and the control device controls the action of the linear drive mechanism according to the signal sent by the position detection sensor 16. When the clamping claw 9 moves to the position of the linear guide rail 8 At the head or end, the control device controls the linear drive mechanism to stop, so that the clamping jaw 9 stops at the head or end of the linear guide rail 8 .
与本发明的一种玻璃存取装置相应地，本发明还提供一种玻璃存储方法，采用如下技术方案：一种玻璃存储方法，采用上述技术方案或其任一优选的技术方案所述的玻璃存取装置进行作业，包括如下步骤：Corresponding to the glass access device of the present invention, the present invention also provides a glass storage method, using the following technical solution: a glass storage method, using the glass described in the above technical solution or any preferred technical solution The operation of the access device includes the following steps:
1)初始状态时，支承滚子7低于支承滚轮5，夹紧手爪9位于直线导轨8首端；1) In the initial state, the support roller 7 is lower than the support roller 5, and the clamping claw 9 is located at the head end of the linear guide rail 8;
2)玻璃传送装置向固定支承架2上传送一块玻璃，玻璃支承在支承滚轮5上；2) The glass transfer device transfers a piece of glass to the fixed support frame 2, and the glass is supported on the support roller 5;
3)控制装置控制升降机构17带动升降支承架3向上运动，从而使得支承滚子7将固定支承架2上的玻璃向上顶起而支承在升降支承架3上；3) The control device controls the lifting mechanism 17 to drive the lifting support frame 3 to move upward, so that the support roller 7 lifts the glass on the fixed support frame 2 upwards and supports it on the lifting support frame 3;
4)控制装置控制夹紧手爪9夹紧升降支承架3上的玻璃；4) The control device controls the clamping claw 9 to clamp the glass on the lifting support frame 3;
5)控制装置控制直线驱动机构驱动夹紧手爪9向直线导轨8末端移动并将玻璃放置到玻璃储存装置上；5) The control device controls the linear drive mechanism to drive the clamping claw 9 to move to the end of the linear guide rail 8 and place the glass on the glass storage device;
6)控制装置控制升降机构17带动升降支承架3向下运动而恢复至初始状态；6) The control device controls the lifting mechanism 17 to drive the lifting support frame 3 to move downward and return to the initial state;
7)控制装置控制直线驱动机构驱动夹紧手爪9向直线导轨8首端运动而恢复至初始状态。7) The control device controls the linear drive mechanism to drive the clamping claw 9 to move toward the head end of the linear guide rail 8 to return to the initial state.
如前所述，本发明的一种玻璃存储方法能够将玻璃传送装置传送来的玻璃转移至玻璃储存装置上，作业步骤简单，易于操作，此处不再赘述。As mentioned above, the glass storage method of the present invention can transfer the glass delivered by the glass delivery device to the glass storage device, and the operation steps are simple and easy to operate, which will not be repeated here.
优选地，所述固定支承架2上设有与控制装置相连的玻璃检测传感器15，在上述步骤2)中，当玻璃到达固定支承架2上时，玻璃检测传感器15向控制装置发出信号，控制装置控制固定支承架2的支承杆4停止转动，玻璃停止在固定支承架2的支承滚轮5上。Preferably, the fixed support frame 2 is provided with a glass detection sensor 15 connected to the control device. In the above step 2), when the glass reaches the fixed support frame 2, the glass detection sensor 15 sends a signal to the control device to control The device controls the support rod 4 of the fixed support frame 2 to stop rotating, and the glass stops on the support roller 5 of the fixed support frame 2 .
优选地，控制装置设定升降机构17向上移动的距离，在所述步骤3)中，控制装置控制升降机构17带动升降支承架3向上移动设定的距离，从而将玻璃顶起距离支承滚轮5一定高度。Preferably, the control device sets the upward movement distance of the lifting mechanism 17. In the step 3), the control device controls the lifting mechanism 17 to drive the lifting support frame 3 to move upward a set distance, thereby lifting the glass from the supporting roller 5 a certain height.
优选地，优选地，所述夹紧手爪9上设有与控制装置相连的限位传感器14，当上夹板11和下夹板12夹紧或松开玻璃时，限位传感器14向控制装置发出信号，所述限位传感器14为光电传感器，限位传感器14感应玻璃与上夹板11之间距离，并将检测信号反馈至控制装置，控制装置控制电动推杆13向下推进，当玻璃夹紧就位后，电动推杆13停止向下推进。Preferably, preferably, the clamping jaw 9 is provided with a limit sensor 14 connected to the control device. When the upper clamping plate 11 and the lower clamping plate 12 clamp or loosen the glass, the limit sensor 14 sends a signal to the control device. The limit sensor 14 is a photoelectric sensor. The limit sensor 14 senses the distance between the glass and the upper clamping plate 11, and feeds back the detection signal to the control device. The control device controls the electric push rod 13 to push down. When the glass is clamped After being in place, the electric push rod 13 stops advancing downwards.
优选地，所述直线导轨8上设有与控制装置相连的位置检测传感器16，当夹紧手爪9移动至直线导轨8的首端或末端时，位置检测传感器16向控制装置发出信号。位置检测传感器16感应直线电机移动至直线导轨8首端或者末端的设定位置后，位置检测传感器16将检测信号反馈至控制装置，控制装置控制直线电机停止运行。Preferably, the linear guide rail 8 is provided with a position detection sensor 16 connected to the control device. When the clamping jaw 9 moves to the head end or the end of the linear guide rail 8, the position detection sensor 16 sends a signal to the control device. After the position detection sensor 16 senses that the linear motor moves to the set position at the head end or the end of the linear guide rail 8, the position detection sensor 16 feeds back the detection signal to the control device, and the control device controls the linear motor to stop running.
与本发明的一种玻璃存取装置相应地，本发明还提供一种抓取玻璃的方法，采用如下技术方案：一种抓取玻璃的方法，采用采用上述技术方案或其任一优选的技术方案所述的玻璃存取装置进行作业，包括如下步骤：Corresponding to the glass access device of the present invention, the present invention also provides a method for grabbing glass, using the following technical solution: a method for grabbing glass, using the above technical solution or any preferred technology The glass access device described in the program operates, including the following steps:
a)初始状态时，支承滚子7高于支承滚轮5，夹紧手爪9位于直线导轨8末端；a) In the initial state, the support roller 7 is higher than the support roller 5, and the clamping claw 9 is located at the end of the linear guide rail 8;
b)控制装置控制夹紧手爪9从玻璃储存装置上夹取一块玻璃；b) the control device controls the clamping claw 9 to clamp a piece of glass from the glass storage device;
c)控制装置控制直线驱动机构驱动夹紧手爪9向直线导轨8首端移动并将玻璃放置到升降支承架3上，玻璃支承在支承滚子7上；c) The control device controls the linear drive mechanism to drive the clamping claw 9 to move to the head end of the linear guide rail 8 and place the glass on the lifting support frame 3, and the glass is supported on the support roller 7;
d)控制装置控制升降机构17带动升降支承架3向下运动，并将玻璃落放在固定支承架2上，玻璃支承在支承滚轮5上；d) The control device controls the lifting mechanism 17 to drive the lifting support frame 3 to move downward, and put the glass on the fixed support frame 2, and the glass is supported on the support roller 5;
e)玻璃传送装置将固定支承架2上的玻璃运离；e) The glass conveying device transports the glass on the fixed support frame 2 away;
f)控制装置控制升降机构17带动升降支承架3向上运动而恢复至初始状态；f) The control device controls the lifting mechanism 17 to drive the lifting support frame 3 to move upwards and return to the initial state;
g)控制装置控制直线驱动机构驱动夹紧手爪9向直线导轨8末端运动而恢复至初始状态。g) The control device controls the linear drive mechanism to drive the clamping claw 9 to move toward the end of the linear guide rail 8 to return to the initial state.
如上所述，本发明的一种抓取玻璃的方法能够将玻璃储存装置上的玻璃转移至玻璃传送装置上，作业步骤简单，易于操作，此处不再赘述。As mentioned above, a method for grabbing glass according to the present invention can transfer the glass on the glass storage device to the glass conveying device, and the operation steps are simple and easy to operate, which will not be repeated here.
基于上述实施例的技术方案，本发明的一种玻璃存取装置及储存、抓取玻璃的方法能够对水平放置的玻璃进行储存或抓取分离，能够实现对玻璃的储存作业或者从玻璃储存装置上抓取玻璃的作业，提高储存玻璃或抓取玻璃的效率，同时避免玻璃在输送过程中出现划伤。Based on the technical solutions of the above-mentioned embodiments, a glass access device and a method for storing and grabbing glass in the present invention can store or grab and separate horizontally placed glass, and can realize the storage operation of glass or the storage of glass from the glass storage device. The operation of grabbing glass from above improves the efficiency of storing glass or grabbing glass, and at the same time avoids scratches on the glass during transportation.
综上所述，本发明有效克服了现有技术中的种种缺点而具高度产业利用价值。To sum up, the present invention effectively overcomes various shortcomings in the prior art and has high industrial application value.
上述实施例仅例示性说明本发明的原理及其功效，而非用于限制本发明。任何熟悉此技术的人士皆可在不违背本发明的精神及范畴下，对上述实施例进行修饰或改变。因此，举凡所属技术领域中具有通常知识者在未脱离本发明所揭示的精神与技术思想下所完成的一切等效修饰或改变，仍应由本发明的权利要求所涵盖。The above-mentioned embodiments only illustrate the principles and effects of the present invention, but are not intended to limit the present invention. Anyone skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical ideas disclosed in the present invention should still be covered by the claims of the present invention.
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