CN109019022A - A kind of glass charging/discharging device and method - Google Patents
A kind of glass charging/discharging device and method Download PDFInfo
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- CN109019022A CN109019022A CN201811208502.8A CN201811208502A CN109019022A CN 109019022 A CN109019022 A CN 109019022A CN 201811208502 A CN201811208502 A CN 201811208502A CN 109019022 A CN109019022 A CN 109019022A
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- 239000011521 glass Substances 0.000 title claims abstract description 171
- 238000007599 discharging Methods 0.000 title claims abstract description 79
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000001179 sorption measurement Methods 0.000 claims abstract description 49
- 239000000463 material Substances 0.000 claims abstract description 22
- 230000001360 synchronised effect Effects 0.000 claims description 24
- 230000033001 locomotion Effects 0.000 claims description 14
- 239000011232 storage material Substances 0.000 claims 1
- 238000011144 upstream manufacturing Methods 0.000 abstract description 21
- 238000006243 chemical reaction Methods 0.000 abstract description 6
- 239000005357 flat glass Substances 0.000 description 13
- 238000010586 diagram Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 5
- 241000252254 Catostomidae Species 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011112 process operation Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Classifications
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P40/00—Technologies relating to the processing of minerals
- Y02P40/50—Glass production, e.g. reusing waste heat during processing or shaping
- Y02P40/57—Improving the yield, e-g- reduction of reject rates
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Specific Conveyance Elements (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Abstract
The invention discloses a kind of glass charging/discharging device, including feeding line and stockline, the first preset quantity are greater than the second preset quantity, storing sucker are provided therebetween out；With feeding line and out stockline cooperation be respectively arranged with can first reclaimer robot and second reclaimer robot mobile with front-rear direction along the vertical direction, the first reclaimer robot has feeds sucker with glass each on feeding line respectively correspondingly；Second reclaimer robot has the discharging sucker with one-to-one second preset quantity of glass each on stockline out respectively；Storing sucker has multiple adsorption potentials of no less than the first preset quantity, and storing sucker can move left and right.The invention also discloses a kind of glass input and output material methods using above-mentioned glass charging/discharging device.The glass charging/discharging device and method can be automatically performed the glass input and output material conversion that upstream discharging is greater than fed downstream during glass continuous productive process, improve the degree of automation, and reliable and stable, high-efficient, at low cost.
Description
Technical field
The present invention relates to glass circulation technical fields to further relate to one more specifically to a kind of glass charging/discharging device
Kind glass input and output material method.
Background technique
In mobile phone glass industry, when technique circulation process is made in glass, glass is after upstream equipment completes process operation, just
It is flowed into upstream device.In automation industry, typically entire roboticized work.However the amount of glass of upstream equipment discharging
The charging quantity required with upstream device often will appear inconsistent situation, if upstream equipment requirement feeds 5 sheet glass side by side, out
Expect 5 sheet glass.And the upstream device requirement being mated with feeds 4 sheet glass side by side, discharge 4 sheet glass.In automated job
Become very big difficult point.
It is greater than the corresponding charging of upstream device in conclusion how to efficiently solve glass in upstream equipment discharging and is difficult to simultaneous
The problems such as appearance is current those skilled in the art's problem to be solved.
Summary of the invention
In view of this, the first purpose of this invention is to provide a kind of glass charging/discharging device, glass input and output material dress
The structure design set can efficiently solve glass and be greater than the corresponding charging of upstream device in upstream equipment discharging and be difficult to compatible
Problem, a second object of the present invention is to provide a kind of glass input and output material methods.
In order to reach above-mentioned first purpose, the invention provides the following technical scheme:
A kind of glass charging/discharging device, including for by the feeding line of the glass of the first preset quantity inflow and being used for the
The glass outflow of two preset quantities goes out stockline, and first preset quantity is greater than second preset quantity, the feeding line
Storing sucker is provided between the stockline out；
It can be mobile with front-rear direction along the vertical direction with the feeding line and being respectively arranged with for the cooperation of stockline out
The first reclaimer robot and the second reclaimer robot, first reclaimer robot have respectively with each glass on the feeding line
Glass feeds sucker correspondingly；Second reclaimer robot has one-to-one with each glass on the stockline out respectively
The discharging sucker of second preset quantity；
The storing sucker has multiple adsorption potentials of no less than first preset quantity, and the storing sucker can
It moves left and right.
Preferably, in above-mentioned glass charging/discharging device, first reclaimer robot and second reclaimer robot are equal
The Y-axis guide rail being arranged including the X-axis guide rail that is arranged along the longitudinal direction and along the vertical direction, the Y-axis guide rail can drive in X-axis
X-axis guide rail described in the drive lower edge of component is mobile, and the slider connecting plate that is provided with Y-axis guide rail cooperation, the sliding block connects
Fishplate bar can the Y-axis guide rail described in the drive lower edge of Y-axis driving part it is mobile, the sliding block of first reclaimer robot connects
It is fixed with the charging sucker of the first preset quantity on fishplate bar, consolidates on the slider connecting plate of second reclaimer robot
Surely there is the discharging sucker of the second preset quantity.
Preferably, in above-mentioned glass charging/discharging device, the X-axis driving part includes X-axis servo motor, and the X-axis is watched
It takes motor driven X-axis synchronizing wheel and drives the movement of X-axis synchronous belt, the Y-axis guide rail is fixedly connected with the X-axis synchronous belt with institute
State X-axis synchronous belt synchronizing moving.
Preferably, in above-mentioned glass charging/discharging device, the Y-axis driving part includes Y-axis servo motor, and the Y-axis is watched
The rotation of motor driven lead screw is taken, the slider connecting plate and the lead screw cooperate, to lead in lead screw rotation along the Y-axis
Rail is mobile.
Preferably, in above-mentioned glass charging/discharging device, the feeding line and it is described go out stockline include be set side by side it is more
Roller shaft is arranged, multiple idler wheels are installed, one end of each roller shaft is connected separately with helical gear, described oblique on the roller shaft
Gear can rotate under the drive of feeding driving part.
Preferably, in above-mentioned glass charging/discharging device, the storing sucker includes the linear guide being arranged in left-right direction
With the vacuum platform with the adsorption potential, the vacuum platform can the straight line described in the drive lower edge of storing driving part lead
Rail is mobile.
Preferably, in above-mentioned glass charging/discharging device, the storing driving part includes storing servo motor, the storing
Servo motor drives storing synchronizing wheel to drive the movement of storing synchronous belt, and the vacuum platform is fixedly connected with the storing synchronous belt
With the storing synchronous belt synchronizing moving.
Preferably, in above-mentioned glass charging/discharging device, second preset quantity adds one to be equal to first preset quantity,
The number of the adsorption potential is the integral multiple of second preset quantity.
Glass charging/discharging device provided by the invention include feeding line, go out stockline, storing sucker, the first reclaimer robot and
Second reclaimer robot.Wherein, feeding line is used to flow into the glass of the first preset quantity, and stockline is used for the second present count out
The glass of amount flows out, and the first preset quantity is greater than the second preset quantity.Storing sucker is set between feeding line and out stockline, tool
There are multiple adsorption potentials of no less than the first preset quantity, and storing sucker can move left and right.First reclaimer robot and second
Stockline cooperates reclaimer robot with feeding line and out respectively, and can be mobile with front-rear direction along the vertical direction, the first feeding
Manipulator has feeds sucker with glass each on feeding line respectively correspondingly；Second reclaimer robot have respectively with discharging
The discharging sucker of each one-to-one second preset quantity of glass on line.
Using glass charging/discharging device provided by the invention, storing sucker is acted to the adsorption potential for keeping right end vacant first
It is corresponding with the glass of feeding line right end；Then the first reclaimer robot is mobile, makes to feed each glass one on sucker and feeding line
One is opposite, and each glass is transferred on the corresponding adsorption potential of storing sucker；Then storing sucker moves right, so that being adsorbed with
The adsorption potential of the left end of glass is corresponding with the glass position of the left end of stockline out；Then the second reclaimer robot is mobile, will
Each glass corresponding with discharging sucker is transferred to out on stockline.It, can be automatic during glass continuous productive process by the device
The glass input and output material conversion that upstream discharging is greater than fed downstream is completed, improves the degree of automation, and reliable and stable, it is high-efficient,
It is at low cost, it is easy to maintain.
It is any using stating the present invention also provides a kind of glass input and output material method in order to reach above-mentioned second purpose
Glass charging/discharging device, comprising steps of
S1: the adsorption potential that the movement of storing sucker keeps right end vacant is corresponding with the glass of the feeding line right end；
S2: first reclaimer robot is mobile, keeps the charging sucker and each glass on the feeding line opposite one by one,
And each glass is transferred on the corresponding adsorption potential of the storing sucker；
S3: the storing sucker moves right so that be adsorbed with the adsorption potential of the left end of the glass with it is described
The glass position of the left end of stockline is corresponding out；
S4: second reclaimer robot is mobile, and each glass corresponding with the discharging sucker is transferred to the discharging
On line.
Preferably, in above-mentioned glass input and output material method, after the step S4, further includes:
S5: return step S2, until the adsorption potential of second preset quantity is inhaled from right to left on the storing sucker
When with the glass, the storing sucker is moved to left so that be adsorbed with the adsorption potential of the right end of the glass with it is described
The glass position of the right end of stockline is corresponding out；
S6: second reclaimer robot is mobile, and each glass corresponding with the discharging sucker is transferred to the discharging
On line.
The glass input and output material method can during glass continuous productive process by using above-mentioned glass charging/discharging device
It is automatically performed the glass input and output material conversion that upstream discharging is greater than fed downstream, improves the degree of automation, and reliable and stable, efficiency
Height, it is at low cost.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the three dimensional structure diagram of the glass charging/discharging device of a specific embodiment of the invention；
Fig. 2 is the front view of Fig. 1；
Fig. 3 is the top view of Fig. 1；
Fig. 4 is the three dimensional structure diagram of the first reclaimer robot；
Fig. 5 is the three dimensional structure diagram of the second reclaimer robot；
Fig. 6 three dimensional structure diagram of stockline for feeding line and out；
Fig. 7 is the three dimensional structure diagram of storing sucker.
It is marked in attached drawing as follows:
First reclaimer robot 1, the second reclaimer robot 2, storing sucker 3, feeding line 4, out stockline 5, glass 6；
X-axis guide rail 11, Y-axis guide rail 12, slider connecting plate 13 feed sucker 14, and discharge sucker 15, X-axis servo motor 16,
X-axis synchronizing wheel 17, X-axis synchronous belt 18, Y-axis servo motor 19, lead screw 20；
Linear guide 31, vacuum platform 32, adsorption potential 33, storing servo motor 34, storing synchronizing wheel 35, storing synchronous belt
36；
Idler wheel 41, helical gear 42, helical gear shaft 43, stepper motor 44, sensor 45.
Specific embodiment
The embodiment of the invention discloses a kind of glass charging/discharging devices, to reach glass continuous productive process in the process for glass number
The function that the amount amount of progress subtracts.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-Fig. 7 is please referred to, Fig. 1 is the three-dimensional structure signal of the glass charging/discharging device of a specific embodiment of the invention
Figure；Fig. 2 is the front view of Fig. 1；Fig. 3 is the top view of Fig. 1；Fig. 4 is the three dimensional structure diagram of the first reclaimer robot；Fig. 5-
Figure is respectively the second reclaimer robot, feeding line and the three dimensional structure diagram of stockline, storing sucker out.
In a specific embodiment, glass charging/discharging device provided by the invention includes feeding line 4, goes out stockline 5, storing
Sucker 3, the first reclaimer robot 1 and the second reclaimer robot 2.
Wherein, feeding line 4 is for flowing into the glass 6 of the first preset quantity, and stockline 5 is used for the second preset quantity out
Glass 6 flows out, and the first preset quantity is greater than the second preset quantity.Namely feeding line 4 and stockline 5 out are conveying glass 6
Conveying equipment, specific structure can refer to 6 transmission device of glass conventional in the prior art, be not especially limited herein.First
Preset quantity be greater than the second preset quantity, that is, in the glass charging/discharging device glass 6 be mostly into less go out, with realize by
It is corresponding after 6 quantity of the glass decrement of upstream equipment discharging to be delivered to upstream device charging.
Stockline 5 cooperates with feeding line 4 and out respectively for first reclaimer robot 1 and the second reclaimer robot 2, and being capable of edge
Vertical direction and front-rear direction are mobile, the first reclaimer robot 1 have respectively with glass 6 each on feeding line 4 correspondingly into
Expect sucker 14；Second reclaimer robot 2 have respectively with one-to-one second preset quantity of glass 6 each on stockline 5 out go out
Expect sucker 15.The structure of first reclaimer robot 1 and the second reclaimer robot 2 can be not especially limited, can be divided
It is not mobile with front-rear direction along the vertical direction.
There is on feeding line 4 the charging sucker 14 correspondingly of each glass 6 on first reclaimer robot 1, that is, respectively into
It is extremely corresponding with each glass 6 on feeding line 4 to expect that sucker 14 can be moved forward and backward with the first reclaimer robot 1, then each charging is inhaled
Disk 14 picks up each charging sucker 14 by each glass 6 on feeding line 4 respectively with 1 vertical shift of the first reclaimer robot, then
Each charging sucker 14 is moved forward and backward with the first reclaimer robot 1 to storing sucker 3, and 1 vertical shift of the first reclaimer robot makes
Glass 6 on each charging sucker 14 is placed in correspondingly on each adsorption potential 33 of storing sucker 3.
Have on second reclaimer robot 2 with the discharging sucker 15 correspondingly of glass each on stockline 5 out 6, that is, respectively
The sucker 15 that discharges can be moved forward and backward with the second reclaimer robot 2 to storing sucker 3, and the sucker 15 that then discharges is with the second feeding
2 vertical shift of manipulator is to pick up the glass 6 with 3 corresponding position of storing sucker and quantity, and the sucker 15 that then respectively discharges is with second
The back-and-forth motion of reclaimer robot 2 is extremely corresponding with each glass 6 on stockline 5 out, and discharging sucker 15 is vertical with the second reclaimer robot 2
Movement is each glass 6 to be placed in out on stockline 5 correspondingly.
Storing sucker 3 is set between feeding line 4 and out stockline 5, multiple absorption with no less than the first preset quantity
Position 33, and storing sucker 3 can move left and right.Namely 33 quantity of adsorption potential of storing sucker 3 is greater than the first preset quantity, from
And after the glass of the first preset quantity 6 is placed in storing sucker 3, storing sucker 3 moves left and right, by corresponding first preset quantity
It is moved to the adsorption potential 33 of the difference number of the second preset quantity and is staggered with discharging sucker 15, glass 6 is stored.Each adsorption potential
33 is evenly distributed, and corresponding with the position of charging sucker 14 and the sucker 15 that discharges, by glass 6 in feeding line 4, storing sucker
3 and the transhipment between stockline 5 out.
It should be noted that left and right and front-rear direction here and below refers both to opposite both direction, do not limit
Absolute orientation.The adsorption potential 33 of charging sucker 14, discharging sucker 15 and storing sucker 3 is preferably all made of vacuum suction.
Using glass charging/discharging device provided by the invention, storing sucker 3 is acted to the absorption for keeping right end vacant first
Position 33 is corresponding with the glass 6 of 4 right end of feeding line；Then the first reclaimer robot 1 is mobile, makes to feed sucker 14 and feeding line 4
Upper each glass 6 is opposite one by one, and each glass 6 is transferred on the corresponding adsorption potential 33 of storing sucker 3；Then storing sucker 3 to
It moves right, so that the adsorption potential 33 for being adsorbed with the left end of glass 6 is corresponding with 6 position of glass of the left end of stockline 5 out；Then
Second reclaimer robot 2 is mobile, and each glass 6 corresponding with discharging sucker 15 is transferred to out on stockline 5.By the device,
It can be automatically performed 6 input and output material of the glass conversion that upstream discharging is greater than fed downstream during 6 continuous productive process of glass, improve certainly
Dynamicization degree, and it is reliable and stable, it is high-efficient, it is at low cost, it is easy to maintain.
Specifically, the first reclaimer robot 1 and the second reclaimer robot 2 include the X-axis guide rail being arranged along the longitudinal direction
11 and the Y-axis guide rail 12 that is arranged along the vertical direction, Y-axis guide rail 12 can be under the drive of X-axis driving part before X-axis guide rail 11
After move, with Y-axis guide rail 12 cooperate be provided with slider connecting plate 13, slider connecting plate 13 can be in the band of Y-axis driving part
Along 12 vertical shift of Y-axis guide rail under dynamic.The position of first reclaimer robot 1 is corresponding with feeding line 4, makes to feed sucker 14 and charging
Each glass 6 on line 4 corresponds, and being located at for the second reclaimer robot 2 is corresponding with stockline 5 out, makes discharge sucker 15 and discharging
The seat of each glass 6 corresponds on line 5.Preferably, the first reclaimer robot 1 is set to the right side of feeding line 4, the second feeding
Manipulator 2 is set to out the left side of stockline 5, to avoid movement interference, facilitates layout.
The charging sucker 14 of the first preset quantity is fixed on the slider connecting plate 13 of first reclaimer robot 1, second takes
Expect the discharging sucker 15 that the second preset quantity is fixed on the slider connecting plate 13 of manipulator 2.Slider connecting plate 13 specifically can be with
Including the sliding block cooperated with Y-axis guide rail 12 and the supporting element being fixedly connected with a slide block, each sucker 14 and discharging sucker 15 of feeding divides
It is not fixedly installed on corresponding supporting element.Certainly, supporting element should extend in left-right direction, and each sucker 14 that feeds is in the first feeding
The position arrangement of each glass 6 on feeding line 4 is corresponded on the supporting element of manipulator 1, each sucker 15 that discharges is in the second reclaimer robot 2
Supporting element on it is corresponding go out stockline 5 on each glass 6 position arrangement.The first feeding is realized by X-axis guide rail 11 and Y-axis guide rail 12
The front and back and vertical direction of manipulator 1 and the second reclaimer robot 2 are mobile, simple and reliable for structure.
Further, X-axis driving part includes X-axis servo motor 16, and X-axis servo motor 16 drives 17 band of X-axis synchronizing wheel
Dynamic X-axis synchronous belt 18 moves, and Y-axis guide rail 12 is fixedly connected with 18 synchronizing moving of X-axis synchronous belt with X-axis synchronous belt 18.Also
It is that X-axis servo motor 16 is moved forward and backward by the transmission drive Y-axis guide rail 12 of synchronous belt and synchronizing wheel along X-axis guide rail 11, closed loop
Control, it is precisely reliable.
Further, Y-axis driving part includes Y-axis servo motor 19, and Y-axis servo motor 19 drives lead screw 20 to rotate,
Slider connecting plate 13 and lead screw 20 cooperate, to move when lead screw 20 is rotated along Y-axis guide rail 12.Namely Y-axis servo motor 19
By 20 transmission belt movable slider connecting plate 13 of lead screw along 12 vertical shift of Y-axis guide rail, servo motor carries out closed-loop control, precisely may be used
It leans on.Lead screw 20 can specifically use ball-screw 20.
Specifically, feeding line 4 includes the multiple rows of roller shaft being set side by side with stockline 5 out, it is equipped on roller shaft multiple
Idler wheel 41, one end of each roller shaft are connected separately with helical gear 42, and each helical gear 42 can be under the drive of feeding driving part
Rotation.Namely driving part drive each bevel gear set at bevel gear set, bevel gear set respectively by power transmission to every roll
On wheel shaft, and then idler wheel 41 is driven to roll, glass 6 is flowed in and out.
Preferably, driving part uses stepper motor 44, i.e. stepper motor 44 is used as power source, engages with each helical gear 42
Be provided with helical gear shaft 43, stepper motor 44 is driven in and out material synchronizing wheel synchronous belt to drive helical gear shaft 43 to rotate, in turn
Helical gear 42 is driven to rotate.For the ease of detecting position and the disengaging state of glass 6, it is respectively set on feeding line 4 and stockline 5 out
There is sensor 45, to detect position and the disengaging state of glass 6.
In the above embodiments, storing sucker 3 includes the linear guide 31 that is arranged in left-right direction and has an adsorption potential
33 vacuum platform 32, vacuum platform 32 can move under the drive of storing driving part along linear guide 31.It is namely true
There is the adsorption potential 33 greater than the first preset quantity, driving part drives vacuum platform 32 left along linear guide 31 on hollow panel 32
It moves right, the glass 6 by supplied materials more than discharging is kept in.
Further, storing driving part includes storing servo motor 34, and storing servo motor 34 drives storing synchronizing wheel
35 drive storing synchronous belt 36 to move, and vacuum platform 32 is fixedly connected with storing synchronous belt 36 to move with storing synchronous belt 36 is synchronous
It is dynamic.Vacuum platform 32 is driven to move along a straight line by discharging servo motor, closed-loop control is precisely reliable.It should be noted that above-mentioned
Each driving equipment servo motor or stepper motor 44 has been respectively adopted and be driven by synchronous belt synchronizing wheel or lead screw 20 be driven, control
Precision height processed.As needed, the movement of each component, such as ordinary motor can also be driven using other driving equipments, or are stretched
Cylinder etc..It can also be driven by chain.
On the basis of the various embodiments described above, the second preset quantity adds one to be equal to the first preset quantity, of adsorption potential 33
Number is the integral multiple of the second preset quantity.Namely the first preset quantity is bigger than the second preset quantity by one, on this basis, will store up
The number of material 3 adsorption potential 33 of sucker is set as the integral multiple of the second preset quantity, then when working, storing movement first makes right end
Vacant adsorption potential 33 is corresponding with the glass 6 of 4 right end of feeding line；Then the first reclaimer robot 1 is mobile, makes to feed sucker 14
It is opposite one by one with glass 6 each on feeding line 4, and each glass 6 is transferred on the corresponding adsorption potential 33 of storing sucker 3；Subsequently
Storing sucker 3 moves right, so that being adsorbed with 6, glass of the adsorption potential 33 of the left end of glass 6 and the left end of stockline 5 out
Set correspondence；Then the second reclaimer robot 2 is mobile, and each glass 6 corresponding with discharging sucker 15 is transferred to out on stockline 5；And
After repeat the above steps, until when the adsorption potential 33 of second preset quantity from right to left is adsorbed with glass 6 on storing sucker 3, storing
Sucker 3 moves to left, so that the adsorption potential 33 for being adsorbed with the right end of glass 6 is corresponding with 6 position of glass of the right end of stockline 5 out；
Then the second reclaimer robot 2 is mobile, and each glass 6 corresponding with discharging sucker 15 is transferred to out on stockline 5.It is set by above-mentioned
It sets, the glass 6 kept on storing sucker 3 can be completed into discharging automatically.
The embodiment of the invention discloses a kind of glass 6 into method, using any one glass input and output material in above-described embodiment
Device includes the following steps: in a specific embodiment
S1: the adsorption potential 33 that the movement of storing sucker 3 keeps right end vacant is corresponding with the glass 6 of 4 right end of feeding line；
It should be noted that right end herein only refers to opposite one end of storing sucker 3, absolute position is not limited.It is first
It is first that the adsorption potential 33 of right end in the vacant adsorption potential 33 of storing sucker 3 is corresponding with the sucker of 4 right end of feeding line, in order to
Feeding.
S2: the first reclaimer robot 1 is mobile, keeps each glass 6 on charging sucker 14 and feeding line 4 opposite one by one, and will be each
Glass 6 is transferred on the corresponding adsorption potential 33 of storing sucker 3；
S3: storing sucker 3 moves right, so that being adsorbed with the most left of the adsorption potential 33 of the left end of glass 6 and stockline 5 out
6 position of glass at end is corresponding；
Storing sucker 3 moves to right certain amount of adsorption potential 33, which is the first preset quantity and the second present count
The difference of amount, so that the glass 6 on corresponding adsorption potential 33 be kept in.And the glass on the adsorption potential 33 of corresponding second preset quantity
6 are transferred to out on stockline 5 and are transported to upstream device by the taking-up of discharging sucker 15.With 6 position of glass of the left end of stockline 5 out
Correspondence that is to say corresponding with the discharging sucker 15 of left end.
S4: the second reclaimer robot 2 is mobile, and each glass 6 corresponding with discharging sucker 15 is transferred to out on stockline 5.
Further, the second preset quantity adds one to be equal to the first preset quantity, and the number of adsorption potential 33 is the second present count
The integral multiple of amount then further includes after above-mentioned steps S4,
S5: return step S2, until the adsorption potential 33 of the second preset quantity is adsorbed with glass 6 from right to left on storing sucker 3
When, storing sucker 3 moves to left, so that being adsorbed with 6, glass of the adsorption potential 33 of the right end of glass 6 and the right end of stockline 5 out
Set correspondence；；
S6: the second reclaimer robot 2 is mobile, and each glass 6 corresponding with discharging sucker 15 is transferred to out on stockline 5.
The 6 input and output material method of glass, by using above-mentioned glass charging/discharging device, energy during 6 continuous productive process of glass
It is enough automatically performed 6 input and output material of the glass conversion that upstream discharging is greater than fed downstream, improves the degree of automation, and reliable and stable,
It is high-efficient, it is at low cost.
Below to have five sheet glass 6 on feeding line 4 with explanation for stockline 5 needs four sheet glass 6 out.
First reclaimer robot 1 has five groups of charging suckers 14, and position just with 5 sheet glass, 6 position pair of carrying out stockline
It answers, the second reclaimer robot 2 has four groups of discharging suckers 15, but just corresponding with 4 sheet glass, 6 position of discharging.Storing sucker 3
Initial position when, first vacuum suction position 33 of rightmost is aligned with the rightmost first piece 6 of supplied materials glass 6.When
When upstream equipment 5 sheet glass 6 of supplied materials, 5 sheet glass 6 are taken away from feeding line 4 and are put into storing by the movement of the first reclaimer robot 1
5 positions of rightmost of sucker 3, then storing sucker 3 acts, then the station for 6 spacing of glass that moves right second takes
Expect that manipulator 2 acts, leftmost 4 sheet glass 6 corresponding on storing sucker 3 is taken away, is put into out on stockline 5 and flows out to down
Swim equipment.When carrying out the second discharge, the first equally movement of reclaimer robot 1, crawl 5 is put into storing sucker 3, at this time storing sucker
3 stations for moving right 6 spacing of glass again, then the second reclaimer robot 2 continues to act, will be corresponding on storing sucker 3
Leftmost 4 sheet glass 6 take away, be put into out on stockline 5 and flow out to upstream device.And so on, when the first feeding machinery
After hand 1 acts 4 times, storing sucker 3 has just moved right 4 stations, and the rightmost on storing sucker 3 has just been filled with 4 at this time
Sheet stock, then storing sucker 3 is moved to left to initial position, i.e., the first of rightmost vacuum suction position 33 with supplied materials glass 6 most
The right first piece 6 is aligned, at this point, the second reclaimer robot 2 takes this 4 sheet glass 6 away, is put into out on stockline 5 and is flowed out
To upstream device, changeable few conversion is thus dexterously realized.
To sum up, which is combined by simple mould group, 41 transmission of idler wheel, vacuum suction etc. is mating makes
With reaching a kind of function of subtracting the 6 quantity amount of progress of glass during 6 continuous productive process of glass, reliable and stable, high-efficient, cost
It is low, it is easy to maintain.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of glass charging/discharging device, which is characterized in that including the feeding line for flowing into the glass of the first preset quantity
With for the glass outflow of the second preset quantity to be gone out stockline, first preset quantity is greater than second preset quantity,
Storing sucker is provided between the feeding line and the stockline out；
With the feeding line and it is described go out being respectively arranged with for stockline cooperation can along the vertical direction mobile with front-rear direction the
One reclaimer robot and the second reclaimer robot, first reclaimer robot have respectively with glass one each on the feeding line
One corresponding charging sucker；Second reclaimer robot has described correspondingly with each glass on the stockline out respectively
The discharging sucker of second preset quantity；
The storing sucker has multiple adsorption potentials of no less than first preset quantity, and the storing sucker can control
It is mobile.
2. glass charging/discharging device according to claim 1, which is characterized in that first reclaimer robot and described
Two reclaimer robots include the X-axis guide rail being arranged along the longitudinal direction and the Y-axis guide rail being arranged along the vertical direction, and the Y-axis is led
Rail can the X-axis guide rail described in the drive lower edge of X-axis driving part it is mobile, connect with the sliding block that is provided with of Y-axis guide rail cooperation
Fishplate bar, the slider connecting plate can the Y-axis guide rail described in the drive lower edge of Y-axis driving part it is mobile, first reclaimer
The charging sucker of the first preset quantity, the institute of second reclaimer robot are fixed on the slider connecting plate of tool hand
State the discharging sucker that the second preset quantity is fixed on slider connecting plate.
3. glass charging/discharging device according to claim 2, which is characterized in that the X-axis driving part includes X-axis servo
Motor, the X-axis servo motor driving X-axis synchronizing wheel drive the movement of X-axis synchronous belt, the Y-axis guide rail and the X-axis synchronous belt
It is fixedly connected with the X-axis synchronous belt synchronizing moving.
4. glass charging/discharging device according to claim 2, which is characterized in that the Y-axis driving part includes Y-axis servo
Motor, the Y-axis servo motor driving lead screw rotation, the slider connecting plate and the lead screw cooperate, to turn in the lead screw
It is moved when dynamic along the Y-axis guide rail.
5. glass charging/discharging device according to claim 1, which is characterized in that the feeding line is wrapped with the stockline out
The multiple rows of roller shaft being set side by side is included, multiple idler wheels are installed on the roller shaft, one end of each roller shaft is separately connected
There is helical gear, the helical gear can rotate under the drive of feeding driving part.
6. glass charging/discharging device according to claim 1, which is characterized in that the storing sucker includes in left-right direction
The linear guide of setting and vacuum platform with the adsorption potential, the vacuum platform can be in the drive of storing driving part
Linear guide described in lower edge is mobile.
7. glass charging/discharging device according to claim 6, which is characterized in that the storing driving part includes that storing is watched
Motor is taken, the storing servo motor driving storing synchronizing wheel drives the movement of storing synchronous belt, the vacuum platform and the storage
Material synchronous belt is fixedly connected with the storing synchronous belt synchronizing moving.
8. glass charging/discharging device according to claim 1-7, which is characterized in that second preset quantity adds
One is equal to first preset quantity, and the number of the adsorption potential is the integral multiple of second preset quantity.
9. a kind of glass input and output material method wants the described in any item glass charging/discharging devices of 1-8 using such as right, feature exists
In, comprising steps of
S1: the adsorption potential that the movement of storing sucker keeps right end vacant is corresponding with the glass of the feeding line right end；
S2: first reclaimer robot is mobile, keeps the charging sucker and each glass on the feeding line opposite one by one, and will
Each glass is transferred on the corresponding adsorption potential of the storing sucker；
S3: the storing sucker moves right so that be adsorbed with the left end of the glass the adsorption potential and the discharging
The glass position of the left end of line is corresponding；
S4: second reclaimer robot is mobile, and each glass corresponding with the discharging sucker is transferred on the stockline out.
10. glass input and output material method according to claim 9, which is characterized in that after the step S4, further includes:
S5: return step S2, until the adsorption potential of second preset quantity is adsorbed with from right to left on the storing sucker
When the glass, the storing sucker is moved to left so that be adsorbed with the right end of the glass the adsorption potential and the discharging
The glass position of the right end of line is corresponding；
S6: second reclaimer robot is mobile, and each glass corresponding with the discharging sucker is transferred on the stockline out.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811208502.8A CN109019022B (en) | 2018-10-17 | 2018-10-17 | Glass feeding and discharging device and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811208502.8A CN109019022B (en) | 2018-10-17 | 2018-10-17 | Glass feeding and discharging device and method |
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| CN109019022A true CN109019022A (en) | 2018-12-18 |
| CN109019022B CN109019022B (en) | 2024-02-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811208502.8A Active CN109019022B (en) | 2018-10-17 | 2018-10-17 | Glass feeding and discharging device and method |
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| CN114746227A (en) * | 2019-12-06 | 2022-07-12 | Smc 株式会社 | Vacuum adsorption cylinder assembly |
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Also Published As
| Publication number | Publication date |
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| CN109019022B (en) | 2024-02-27 |
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