CN108825610B - Glass base positioning and bonding equipment - Google Patents
Glass base positioning and bonding equipment Download PDFInfo
- Publication number
- CN108825610B CN108825610B CN201810897985.0A CN201810897985A CN108825610B CN 108825610 B CN108825610 B CN 108825610B CN 201810897985 A CN201810897985 A CN 201810897985A CN 108825610 B CN108825610 B CN 108825610B
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- Prior art keywords
- glass
- base
- frame body
- cylinder
- connecting rod
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- 239000011521 glass Substances 0.000 title claims abstract description 104
- 230000005540 biological transmission Effects 0.000 claims abstract description 25
- 238000010438 heat treatment Methods 0.000 claims abstract description 11
- 239000002184 metal Substances 0.000 claims abstract description 8
- 230000004888 barrier function Effects 0.000 claims abstract description 5
- 239000000463 material Substances 0.000 claims description 6
- 230000008602 contraction Effects 0.000 claims description 3
- 230000000712 assembly Effects 0.000 claims 3
- 238000000429 assembly Methods 0.000 claims 3
- 238000000034 method Methods 0.000 description 4
- 239000003292 glue Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B11/00—Connecting constructional elements or machine parts by sticking or pressing them together, e.g. cold pressure welding
- F16B11/006—Connecting constructional elements or machine parts by sticking or pressing them together, e.g. cold pressure welding by gluing
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Joining Of Glass To Other Materials (AREA)
Abstract
The invention discloses glass base positioning and bonding equipment, which comprises a glass centering device, a rotary workbench, a robot with a manipulator and a man-machine control system, wherein the glass centering device comprises a frame body, a transmission motor, a plurality of transmission wheels in transmission connection with the transmission motor, two transmission belts which are arranged on two sides of the frame body and driven by the transmission wheels, and a glass centering mechanism for centering and positioning the glass; the rotary workbench comprises a base, a rotary table, a swing cylinder arranged on the base and driving the rotary table to rotate, a heating plate arranged on the rotary table, a metal base tray arranged on the upper part of the heating plate and a detachable safety barrier arranged on the base; a plurality of male gram clamping jaws are arranged on a manipulator of the robot, and a PLC controller controls a glass centering device to center glass and control the action of a swinging cylinder on a rotary workbench. The equipment has the advantages of accurate positioning, high bonding precision and good universality.
Description
Technical Field
The invention relates to the field of glass treatment, in particular to a glass base positioning and bonding device.
Background
At present, the bonding method of the glass base comprises two bonding methods of bonding by a simple positioning clamping plate and special tooling. Because the base quantity is more, manual bonding consumes a large amount of time and manual work, and the position of manual bonding easily deviates, seriously influences product quality, and can't accurately detect the position and the relative position of base itself after manual bonding. The existing special tool bonding is in an off-line bonding mode, a base is manually placed and glass is manually mounted, and the glass is manually mounted after the base is bonded. Moreover, the bonding of the tool can be carried out only for one glass base, different tools are required to be developed for different varieties, and the cost is high.
Disclosure of Invention
The invention aims to provide the universal automatic sheet feeding, sheet discharging, positioning, bonding and detecting equipment for the glass base, which has higher positioning precision and installation efficiency, can bond various glasses with the same base or glasses with different numbers of base distribution under the condition of not replacing any mechanism, and can automatically detect the position of the base after bonding the base, thereby ensuring the quality of products.
For this purpose, the technical scheme of the invention is as follows:
the glass base positioning and bonding equipment comprises a glass centering device, a rotary workbench, a robot with a manipulator and a man-machine control system, wherein the glass centering device comprises a frame body, a transmission motor, a plurality of transmission wheels in transmission connection with the transmission motor, two transmission belts which are arranged on two sides of the frame body and driven by the transmission wheels, and a glass centering mechanism for centering and positioning the glass; the rotary workbench comprises a base, a rotary table, a swinging cylinder arranged on the base and driving the rotary table to rotate, a heating plate arranged on the rotary table, a metal base material tray arranged on the upper part of the heating plate and a detachable safety barrier arranged on the base; a plurality of male gram clamping jaws are arranged on a manipulator of the robot, and a cavity part for accommodating the intelligent camera and the light source is arranged in the middle of the manipulator; the man-machine control system comprises a PLC controller and a display screen which is in communication connection with the intelligent camera and displays the shot image; and the PLC controls the glass centering device to center the glass and controls the action of a swinging cylinder on the rotary workbench.
The glass centering mechanism comprises: the two sliding rods are arranged on the frame body and are respectively positioned at the inner side of one conveying belt; the positioning cylinder is arranged in the middle of the frame body; the first connecting rod is arranged at one end of the frame body, two ends of the first connecting rod are respectively connected with the sliding rods at two sides in a sliding way, and the first connecting rod can slide along the two sliding rods under the driving of the positioning cylinder; the second connecting rod is arranged at the other end of the frame body, and two ends of the second connecting rod are fixedly connected with the two sliding rods respectively; the four reciprocating cylinders are respectively arranged at two ends of the first connecting rod and the second connecting rod, a connecting rod is respectively connected above each reciprocating cylinder, the upper end of each connecting rod is hinged with one side of a mounting block, the bottom of each mounting block is hinged with the frame body, an end limiting column is respectively arranged at the upper part of each mounting block, and the end limiting column is vertically or horizontally turned in a direction far away from positioned glass through the expansion and contraction of the reciprocating cylinders; the four lifting cylinders are respectively arranged on each sliding rod at intervals and fixedly connected with the sliding rods, and each output end of each lifting cylinder, which extends upwards, is respectively provided with a supporting column for supporting glass; the sliding table assembly 30 is arranged at the lower part of the frame body and is parallel to the first connecting rod, and two sides of the frame body and the sliding table assembly are respectively provided with a side positioning rod for clamping the glass under the action of the sliding table assembly; the lifting cylinder is arranged on the frame body, a glass supporting mould is arranged above the lifting cylinder, and the lifting cylinder drives the glass supporting mould to lift and is used for supporting the position of the glass bonding base and supporting glass.
Preferably, two ends of the first connecting rod are respectively connected with the sliding rod in a sliding way through a connecting block.
Preferably, the two ends of the second connecting rod and the four lifting cylinders are fixedly connected with the sliding rod through a connecting block respectively, and the positions of the connecting block on the sliding rod are adjustable.
The PLC is a PLC programmable logic controller, and the control signal output end of the PLC is in communication connection with electromagnetic valves of the positioning cylinder, the lifting cylinder, the sliding table assembly, the lifting cylinder, the reciprocating cylinder and the swinging cylinder through a wireless network and drives the sliding table assembly and each cylinder to work.
Preferably, the number of the male gram clamping jaws is 6, and each male gram clamping jaw is detachably connected with the manipulator through bolts. Each male gram clamping jaw is provided with two air pipe joints. A detachable safety guard bar is also arranged on the base and outside the heating plate.
The invention has the following beneficial effects:
1. the centering of the glass realizes six-point positioning through four end limiting columns and two side positioning rods, and the positioning is accurate;
2. the position of the supporting column of the glass can be adjusted, and the glass supporting mould can prevent the glass from deforming when the nail column is adhered;
3. the bonding precision is high, the relative position error of the glass bases is less than +/-0.25 mm, the position error of each glass base is less than +/-0.5 mm, and the center angle offset error is +/-1 degree;
4. the glass base can be used for glass bases with different structures, and 1-6 glass bases which are distributed randomly can be bonded by the manipulator clamp at a time.
Drawings
FIG. 1 is a schematic view of a glass base positioning and bonding apparatus of the present invention;
FIG. 2 is a schematic view of the centering device of FIG. 1;
FIG. 3 is an enlarged view of a portion of the glass centering mechanism;
FIG. 4 is a schematic view of the rotary table of FIG. 1;
FIG. 5 is a schematic view of the manipulator of FIG. 1;
fig. 6 is a schematic structural view of a male gram clamping jaw in the invention.
Detailed Description
The glass base positioning and bonding device of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1 to 6, the glass base positioning and bonding apparatus of the present invention includes: a glass centering device 1, a rotary workbench 2, a robot with a manipulator 3 and a man-machine control system 4.
The glass centering device 1 comprises a frame body 5, a transmission motor 6, a plurality of transmission wheels 7 in transmission connection with the transmission motor 6, two transmission belts 8 which are arranged on two sides of the frame body 5 and driven by the transmission wheels 7, and a glass centering mechanism. Two conveyor belts 8 are used to transport the glass of the base to be bonded.
The glass centering positioning mechanism comprises sliding rods 9 which are arranged on the frame body 5 and are respectively positioned at the inner sides of the two conveying belts 8, positioning air cylinders 10 which are horizontally arranged in the middle of the frame body 5, a first connecting rod 11 which is arranged at one end of the frame body 5 and slides on the sliding rods 9 at the two sides under the driving of the positioning air cylinders 10, and a second connecting rod 19 which is arranged at the other end of the frame body 5 and is respectively fixedly connected with the sliding rods 9 at the two ends of the two sides, wherein 1 reciprocating air cylinders 17 (4 reciprocating air cylinders 17 in total) are respectively arranged near the two ends of the first connecting rod 11 and near the two ends of the second connecting rod 19; each slide bar 9 is provided with 2 lifting cylinders 18 which are fixedly connected with the slide bar 9 at intervals, a supporting column 14 is arranged above each lifting cylinder 18, the supporting columns 14 are arranged in a pair of opposite directions and close to two sides of the frame body 5, and the lifting cylinders 18 are used for driving the lifting and the lifting to support the bottom of glass. Two side positioning rods 20 for clamping two sides of glass are respectively arranged on two sides of the frame body 5, the bottoms of the side positioning rods 20 are arranged on the sliding table assembly 30, and the side positioning rods can move in opposite directions or in opposite directions along the length direction of the sliding table assembly 30 under the action of the sliding table assembly 30. A lifting cylinder 16 is arranged on the frame body 5 corresponding to the position of the glass base to be bonded, a glass supporting mould 15 is arranged above the lifting cylinder 16, and the glass supporting mould 15 is driven by the lifting cylinder 16 to lift and is used for sucking glass after the glass is centered and positioned. In addition, a connecting rod is respectively connected above each reciprocating cylinder 17, the upper end of each connecting rod is respectively hinged with one side of a mounting block, the bottom of each mounting block is hinged with the frame body 5, an end limiting column 12 is respectively arranged at the upper part of each mounting block, and the end limiting column 12 is vertically erected or turned to be in a horizontal state in a direction far away from the positioned glass by the expansion and contraction of the reciprocating cylinders 17.
In the embodiment shown in the figures, two slide bars 9 are provided inside each conveyor belt 8. The two ends of the second connecting rod 19 and the four lifting cylinders 18 are fixedly connected with the sliding rod 9 through a connecting block respectively, and the positions of the connecting block on the sliding rod 9 are adjustable. According to the different sizes of the glass, the positions of the second connecting rod 19 and the 4 lifting cylinders 18 on the sliding rod 9 can be adjusted, and the distance between the first connecting rod 11 and the second connecting rod 19 can also be adjusted.
Different types of glass products are provided with different types of glass support molds 15. In one embodiment of the invention, a set of each of the morning F60 and general D2XO front glass support molds is provided, and the glass support molds 15 can be quickly replaced.
Referring to fig. 1 and 4, the rotary table 2 includes a base 21, a rotary table 22, a swing cylinder (not shown) provided on the base 21 and driving the rotary table 22 to rotate, a heating plate 23 provided on the rotary table 22, a metal base tray 24 provided on an upper portion of the heating plate 23, and a detachable safety barrier 25 provided on the base 21; the safety barrier 25 and the base 21 are provided with threaded holes and are fixed by bolts.
The robot model is KUKA KR150R2700, be provided with a plurality of androstat clamping jaw 26 on the manipulator 3 of robot, the middle part of manipulator 3 is equipped with the cavity portion 28 that holds intelligent camera 27 and light source, and androstat clamping jaw 26 passes through the bolt with manipulator 3 and can dismantle the connection. The light source 28 is a ring-shaped light source with an opening formed in the middle.
The man-machine control system 4 comprises a PLC controller and a display screen which is in communication connection with the intelligent camera 27 and displays the photographed image thereof; the PLC controls the work of the positioning cylinder 10, the lifting cylinder 18, the sliding table assembly 30, the lifting cylinder 16, the reciprocating cylinder 17 and the swinging cylinder on the rotary workbench 2 in the glass centering device 1.
The PLC is a PLC programmable logic controller, and the control signal output end of the PLC programmable logic controller is in communication connection with the battery valves of the positioning cylinder 10, the lifting cylinder 18, the sliding table assembly 30, the lifting cylinder 16, the reciprocating cylinder 17 and the swinging cylinder through a wireless network, and drives the sliding table assembly 30 and each cylinder to work.
The number of male jaws 26 is six.
Two air connectors 29 are provided on each male gram clamping jaw 26.
The working process of the glass base positioning and bonding equipment is as follows:
1) Manually placing the glass base on a metal base material tray 24, and controlling the temperature of the metal base material tray 24 to be 40-60 ℃ by a heating plate 23;
2) The robot with preset action program firstly determines the position of the glass base on the metal base material tray 24 according to the image shot by the intelligent camera 27, and then the robot takes out a plurality of heated glass bases with 3M glue from the metal base material tray 24 through a plurality of male gram clamping claws 26;
3) At the same time, the glass is fixed in a specified position by the clamping of the man-machine control system 4 and 4 end limit posts 12, side positioning rods 20 and the support of 4 support posts 14 in the glass centering device 1. Before bonding the glass base, the height of the glass supporting mould 15 is adjusted by the lifting cylinder 16, and the glass supporting mould 15 is used for supporting the glass bonding base area and sucking the glass, so that the bonding is stable and firm;
4) The robot arm 3 of the robot determines the bonding position of the glass base according to the intelligent camera shooting forming, calculates the offset and moves the robot arm 3 to the correct position for bonding, and each glass base is mounted on the corresponding position and compacted;
5) After bonding is finished, the intelligent camera in the manipulator 3 shoots and detects the bonding position of the glass base, determines whether the bonding position is correct (if the glass is bonded with the glass base, and meanwhile, whether the position of the glass base is correct or not is required to be determined), if the position is not qualified, an alarm signal is sent, if the detection is qualified, two outwards turned 90-degree positions at two ends of the second connecting rod 19 in the 4 end limiting columns 12 are in a horizontal state, 2 limiting columns 12 at two ends of the first connecting rod 11 move forwards for a certain distance and are turned to a horizontal state, two side positioning rods 20 move outwards for a certain distance, the supporting clamping fixture 15 stops adsorbing, and the glass with the base moves to the next station under the action of a chain.
6) And the manipulator grabs the heated glass base with the 3M glue again, and performs the positioning and bonding process of the next glass base.
Claims (5)
1. A glass base location bonding equipment which characterized in that: comprises a glass centering device (1), a rotary workbench (2), a robot with a manipulator (3) and a man-machine control system (4),
the glass centering device (1) comprises a frame body (5), a transmission motor (6), a plurality of transmission wheels (7) in transmission connection with the transmission motor (6), two transmission belts (8) which are arranged on two sides of the frame body (5) and driven by the transmission wheels (7), and a glass centering mechanism for centering the glass;
the rotary workbench (2) comprises a base (21), a rotary table (22), a swing cylinder arranged on the base (21) and driving the rotary table (22) to rotate, a heating plate (23) arranged on the rotary table (22), a metal base material tray (24) arranged on the upper part of the heating plate (23) and a detachable safety barrier (25) arranged on the base (21);
a plurality of male gram clamping jaws (26) are arranged on a manipulator (3) of the robot, and a cavity part (28) for accommodating an intelligent camera (27) and a light source is arranged in the middle of the manipulator (3); the man-machine control system (4) comprises a PLC controller and a display screen which is in communication connection with the intelligent camera (27) and displays the shot image; the PLC controls the glass centering device (1) to center and position the glass and controls the action of a swinging cylinder on the rotary workbench (2);
the glass centering mechanism comprises:
two slide bars (9) which are arranged on the frame body (5) and are respectively positioned at the inner side of one transmission belt (8);
the positioning cylinder (10) is arranged in the middle of the frame body (5);
the first connecting rod (11) is arranged at one end of the frame body (5) and two ends of the first connecting rod are respectively connected with the sliding rods (9) at two sides in a sliding way, and the first connecting rod can slide along the two sliding rods (9) under the driving of the positioning cylinder (10);
the second connecting rod (19) is arranged at the other end of the frame body (5) and two ends of the second connecting rod are fixedly connected with the two sliding rods (9) respectively;
the four reciprocating cylinders (17) are respectively arranged at two ends of the first connecting rod (11) and the second connecting rod (19), a connecting rod is respectively connected above each reciprocating cylinder (17), the upper end of each connecting rod is hinged with one side of a mounting block, the bottom of each mounting block is hinged with the frame body (5), the upper part of each mounting block is provided with one end limiting column (12), and the end limiting columns (12) are vertically arranged or turned to be in a horizontal state in a direction far away from positioned glass by the expansion and contraction of the reciprocating cylinders (17);
the four lifting cylinders (18) are respectively arranged on each sliding rod (9) at intervals and are fixedly connected with the sliding rods (9), and each lifting cylinder (18) is provided with a supporting column (14) at the upward extending output end for supporting glass;
the sliding table assemblies (30) are arranged at the lower part of the frame body (5) and are parallel to the first connecting rods (11), and side positioning rods (20) are respectively arranged on two sides of the frame body (5) and on the sliding table assemblies (30) and used for clamping the glass under the action of the sliding table assemblies (30);
the lifting cylinder (16) is arranged on the frame body (5), a glass supporting mould (15) is arranged above the lifting cylinder (16), and the lifting cylinder (16) drives the glass supporting mould (15) to lift and is used for supporting the position of the glass bonding base and supporting glass;
the two ends of the first connecting rod (11) are respectively connected with the sliding rod (9) in a sliding way through a connecting block;
the two ends of the second connecting rod (19) and the four lifting cylinders (18) are fixedly connected with the sliding rod (9) through a connecting block respectively, and the positions of the connecting block on the sliding rod (9) are adjustable.
2. The glass base positioning bonding apparatus according to claim 1, wherein: the PLC is a PLC programmable logic controller, and the control signal output end of the PLC is in communication connection with electromagnetic valves of the positioning cylinder (10), the lifting cylinder (18), the sliding table assembly (30), the lifting cylinder (16), the reciprocating cylinder (17) and the swinging cylinder through a wireless network, and drives the sliding table assembly and each cylinder to work.
3. The glass base positioning bonding apparatus according to claim 2, wherein: the number of the male gram clamping jaws (26) is 6, and each male gram clamping jaw (26) is detachably connected with the manipulator 3 through bolts.
4. A glass base positioning bonding apparatus according to claim 3, wherein: two air pipe joints (29) are respectively arranged on each male gram clamping jaw (26).
5. The glass base positioning bonding apparatus according to claim 4, wherein: a detachable safety guard bar (25) is also arranged on the base (21) and outside the heating plate (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810897985.0A CN108825610B (en) | 2018-08-08 | 2018-08-08 | Glass base positioning and bonding equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810897985.0A CN108825610B (en) | 2018-08-08 | 2018-08-08 | Glass base positioning and bonding equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108825610A CN108825610A (en) | 2018-11-16 |
| CN108825610B true CN108825610B (en) | 2024-01-26 |
Family
ID=64153059
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810897985.0A Active CN108825610B (en) | 2018-08-08 | 2018-08-08 | Glass base positioning and bonding equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108825610B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20090118257A (en) * | 2008-05-13 | 2009-11-18 | 현대자동차주식회사 | Glass mounting device for vehicle body |
| CN206478075U (en) * | 2017-02-17 | 2017-09-08 | 福耀集团（沈阳）汽车玻璃有限公司 | A kind of preceding shelves annex mounting tool |
| CN107297939A (en) * | 2017-02-17 | 2017-10-27 | 福耀集团（沈阳）汽车玻璃有限公司 | A kind of glass heating membrane mounting tool |
| CN107310163A (en) * | 2017-02-17 | 2017-11-03 | 福耀集团（沈阳）汽车玻璃有限公司 | A kind of glass heating membrane and lower card article combination mounting tool |
| CN107314013A (en) * | 2017-02-17 | 2017-11-03 | 福耀集团（沈阳）汽车玻璃有限公司 | A kind of preceding shelves annex mounting tool |
| CN108203070A (en) * | 2018-01-23 | 2018-06-26 | 山东代代良智能控制科技有限公司 | Automatic clamping mechanism |
| CN207621136U (en) * | 2017-12-07 | 2018-07-17 | 上海维誉自动化设备有限公司 | A kind of vehicle glass post installation mounting tool |
| CN208686743U (en) * | 2018-08-08 | 2019-04-02 | 福耀集团（沈阳）汽车玻璃有限公司 | A kind of glass base positioning bonding equipment |
-
2018
- 2018-08-08 CN CN201810897985.0A patent/CN108825610B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20090118257A (en) * | 2008-05-13 | 2009-11-18 | 현대자동차주식회사 | Glass mounting device for vehicle body |
| CN206478075U (en) * | 2017-02-17 | 2017-09-08 | 福耀集团（沈阳）汽车玻璃有限公司 | A kind of preceding shelves annex mounting tool |
| CN107297939A (en) * | 2017-02-17 | 2017-10-27 | 福耀集团（沈阳）汽车玻璃有限公司 | A kind of glass heating membrane mounting tool |
| CN107310163A (en) * | 2017-02-17 | 2017-11-03 | 福耀集团（沈阳）汽车玻璃有限公司 | A kind of glass heating membrane and lower card article combination mounting tool |
| CN107314013A (en) * | 2017-02-17 | 2017-11-03 | 福耀集团（沈阳）汽车玻璃有限公司 | A kind of preceding shelves annex mounting tool |
| CN207621136U (en) * | 2017-12-07 | 2018-07-17 | 上海维誉自动化设备有限公司 | A kind of vehicle glass post installation mounting tool |
| CN108203070A (en) * | 2018-01-23 | 2018-06-26 | 山东代代良智能控制科技有限公司 | Automatic clamping mechanism |
| CN208686743U (en) * | 2018-08-08 | 2019-04-02 | 福耀集团（沈阳）汽车玻璃有限公司 | A kind of glass base positioning bonding equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108825610A (en) | 2018-11-16 |
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