CN109019022B - Glass feeding and discharging device and method - Google Patents
Glass feeding and discharging device and method Download PDFInfo
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- CN109019022B CN109019022B CN201811208502.8A CN201811208502A CN109019022B CN 109019022 B CN109019022 B CN 109019022B CN 201811208502 A CN201811208502 A CN 201811208502A CN 109019022 B CN109019022 B CN 109019022B
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- 239000011521 glass Substances 0.000 title claims abstract description 199
- 238000007599 discharging Methods 0.000 title claims abstract description 137
- 238000000034 method Methods 0.000 title claims abstract description 22
- 239000000463 material Substances 0.000 claims abstract description 156
- 238000001179 sorption measurement Methods 0.000 claims abstract description 46
- 230000001360 synchronised effect Effects 0.000 claims description 34
- 241000252254 Catostomidae Species 0.000 claims description 7
- 238000011144 upstream manufacturing Methods 0.000 abstract description 12
- 238000006243 chemical reaction Methods 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 101100441413 Caenorhabditis elegans cup-15 gene Proteins 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 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
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- 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
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P40/00—Technologies relating to the processing of minerals
- Y02P40/50—Glass production, e.g. reusing waste heat during processing or shaping
- Y02P40/57—Improving the yield, e-g- reduction of reject rates
Abstract
The invention discloses a glass feeding and discharging device which comprises a feeding line and a discharging line, wherein the first preset number is larger than the second preset number, and a storage sucker is arranged between the feeding line and the discharging line; a first material taking manipulator and a second material taking manipulator which can move along the vertical direction and the front-back direction are respectively arranged in cooperation with the material feeding line and the material discharging line, and the first material taking manipulator is provided with material feeding sucking discs which are respectively in one-to-one correspondence with all the glasses on the material feeding line; the second material taking manipulator is provided with a second preset number of material discharging sucking discs which are respectively in one-to-one correspondence with the glass on the material discharging line; the storage sucker is provided with a plurality of adsorption positions which are not less than a first preset number, and can move left and right. The invention also discloses a glass feeding and discharging method adopting the glass feeding and discharging device. According to the glass feeding and discharging device and the glass feeding and discharging method, glass feeding and discharging conversion that upstream discharging is larger than downstream feeding can be automatically completed in the glass flow production process, the degree of automation is improved, and the device and the method are stable, reliable, high in efficiency and low in cost.
Description
Technical Field
The invention relates to the technical field of glass circulation, in particular to a glass feeding and discharging device and a glass feeding and discharging method.
Background
In the glass industry of mobile phones, when the glass is made into a technological circulation process, the glass flows into downstream equipment after the upstream equipment completes technological operation. In the automation industry, fully automated operations are common. However, the amount of glass discharged by the upstream equipment is often inconsistent with the amount of glass fed by the downstream equipment, and 5 glass sheets are discharged by the upstream equipment. While downstream equipment interfacing with it requires 4 glass sheets to be fed side by side and 4 glass sheets to be discharged. This is a great difficulty in automation.
In summary, how to effectively solve the problem that the glass is discharged from the upstream device more than the corresponding glass is fed from the downstream device, which is difficult to be compatible, is a problem that needs to be solved by those skilled in the art at present.
Disclosure of Invention
In view of the foregoing, a first object of the present invention is to provide a glass feeding and discharging device, which is designed to effectively solve the problem that the glass is discharged from an upstream device more than the corresponding glass is fed from a downstream device, so that the glass is difficult to be compatible, and a second object of the present invention is to provide a glass feeding and discharging method.
In order to achieve the first object, the present invention provides the following technical solutions:
the glass feeding and discharging device comprises a feeding line for feeding a first preset quantity of glass and a discharging line for discharging a second preset quantity of glass, wherein the first preset quantity is larger than the second preset quantity, and a storage sucker is arranged between the feeding line and the discharging line;
a first material taking manipulator and a second material taking manipulator which can move along the vertical direction and the front-back direction are respectively arranged in cooperation with the feeding line and the discharging line, and the first material taking manipulator is provided with feeding sucking discs which are respectively in one-to-one correspondence with all the glasses on the feeding line; the second material taking manipulator is provided with a second preset number of material discharging sucking discs which are respectively in one-to-one correspondence with the glass on the material discharging line;
the storage sucker is provided with a plurality of adsorption positions which are not less than the first preset number, and the storage sucker can move left and right.
Preferably, in the glass feeding and discharging device, the first material taking manipulator and the second material taking manipulator respectively comprise an X-axis guide rail arranged along the front-back direction and a Y-axis guide rail arranged along the vertical direction, the Y-axis guide rail can move along the X-axis guide rail under the drive of the X-axis driving component, a slide block connecting plate is arranged in cooperation with the Y-axis guide rail, the slide block connecting plate can move along the Y-axis guide rail under the drive of the Y-axis driving component, a first preset number of feeding sucking discs are fixed on the slide block connecting plate of the first material taking manipulator, and a second preset number of discharging sucking discs are fixed on the slide block connecting plate of the second material taking manipulator.
Preferably, in the glass feeding and discharging device, the X-axis driving component comprises an X-axis servo motor, the X-axis servo motor drives an X-axis synchronous wheel to drive an X-axis synchronous belt to move, and the Y-axis guide rail is fixedly connected with the X-axis synchronous belt so as to move synchronously with the X-axis synchronous belt.
Preferably, in the glass feeding and discharging device, the Y-axis driving component comprises a Y-axis servo motor, the Y-axis servo motor drives the screw rod to rotate, and the slide block connecting plate is matched with the screw rod so as to move along the Y-axis guide rail when the screw rod rotates.
Preferably, in the glass feeding and discharging device, the feeding line and the discharging line each comprise a plurality of rows of roller shafts arranged in parallel, a plurality of rollers are mounted on the roller shafts, one end of each roller shaft is connected with a bevel gear respectively, and the bevel gears can rotate under the drive of the feeding driving component.
Preferably, in the glass feeding and discharging device, the material storage sucker comprises a linear guide rail arranged along the left-right direction and a vacuum platform with the adsorption position, and the vacuum platform can move along the linear guide rail under the drive of the material storage driving component.
Preferably, in the glass feeding and discharging device, the storage driving part comprises a storage servo motor, the storage servo motor drives a storage synchronous wheel to drive a storage synchronous belt to move, and the vacuum platform is fixedly connected with the storage synchronous belt so as to synchronously move along with the storage synchronous belt.
Preferably, in the glass feeding and discharging device, the second preset number is added by one to be equal to the first preset number, and the number of the adsorption positions is an integer multiple of the second preset number.
The glass feeding and discharging device comprises a feeding line, a discharging line, a storage sucker, a first material taking manipulator and a second material taking manipulator. The feeding line is used for flowing in glass of a first preset quantity, the discharging line is used for flowing out glass of a second preset quantity, and the first preset quantity is larger than the second preset quantity. The storage sucking disc sets up between feeding line and ejection of compact line, has a plurality of adsorption sites that are not less than first default quantity, and the storage sucking disc can control the removal. The first material taking manipulator and the second material taking manipulator are respectively matched with the material feeding line and the material discharging line and can move along the vertical direction and the front-back direction, and the first material taking manipulator is provided with material feeding sucking discs which are respectively in one-to-one correspondence with the glass on the material feeding line; the second material taking manipulator is provided with a second preset number of material discharging sucking discs which are respectively in one-to-one correspondence with the glass on the material discharging line.
By applying the glass feeding and discharging device provided by the invention, firstly, the suction position at the rightmost end which is empty is enabled to correspond to the glass at the rightmost end of the feeding line by the action of the storage sucker; then the first material taking manipulator moves to enable the feeding sucker to be opposite to each glass on the feeding line one by one, and each glass is transferred to the corresponding adsorption position of the material storage sucker; then the storage sucker moves rightwards, so that the adsorption position at the leftmost end adsorbed with glass corresponds to the glass position at the leftmost end of the discharge line; and then the second material taking manipulator moves to transfer each glass corresponding to the material discharging sucker to the material discharging line. Through the device, glass feeding and discharging conversion that the upstream discharging is greater than the downstream feeding can be automatically completed in the glass flow production process, the degree of automation is improved, and the device is stable and reliable, high in efficiency, low in cost and convenient to maintain.
In order to achieve the second object, the invention also provides a glass feeding and discharging method, which adopts any one of the glass feeding and discharging devices and comprises the following steps:
s1: the suction position at the rightmost end of the suction cup is empty and corresponds to the glass at the rightmost end of the feeding line;
s2: the first material taking manipulator moves to enable the feeding sucker to be opposite to each glass on the feeding line one by one, and each glass is transferred to the adsorption position corresponding to the material storage sucker;
s3: the storage sucker moves rightwards, so that the adsorption position adsorbed with the leftmost end of the glass corresponds to the leftmost glass position of the discharging line;
s4: and the second material taking manipulator moves to transfer each glass corresponding to the material discharging sucker to the material discharging line.
Preferably, in the glass feeding and discharging method, after the step S4, the method further includes:
s5: returning to the step S2, until the second preset number of adsorption positions are adsorbed with the glass on the right side of the storage sucker, moving the storage sucker to the left, so that the adsorption position adsorbed with the rightmost end of the glass corresponds to the position of the rightmost end of the discharge line;
s6: and the second material taking manipulator moves to transfer each glass corresponding to the material discharging sucker to the material discharging line.
According to the glass feeding and discharging method, by adopting the glass feeding and discharging device, glass feeding and discharging conversion that upstream discharging is larger than downstream feeding can be automatically completed in the glass flow production process, the degree of automation is improved, and the glass feeding and discharging device is stable and reliable, high in efficiency and low in cost.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic three-dimensional structure of a glass feeding and discharging device according to an embodiment of the present invention;
FIG. 2 is a front view of FIG. 1;
FIG. 3 is a top view of FIG. 1;
FIG. 4 is a schematic three-dimensional structure of a first pick-up robot;
FIG. 5 is a schematic three-dimensional view of a second pick-up robot;
FIG. 6 is a schematic view of three-dimensional structures of a feed line and a discharge line;
fig. 7 is a schematic three-dimensional structure of the storage sucker.
The figures are marked as follows:
the device comprises a first material taking manipulator 1, a second material taking manipulator 2, a material storage sucker 3, a material feeding line 4, a material discharging line 5 and glass 6;
the X-axis guide rail 11, the Y-axis guide rail 12, the slide block connecting plate 13, the feeding sucker 14, the discharging sucker 15, the X-axis servo motor 16, the X-axis synchronous wheel 17, the X-axis synchronous belt 18, the Y-axis servo motor 19 and the lead screw 20;
the device comprises a linear guide rail 31, a vacuum platform 32, an adsorption position 33, a storage servo motor 34, a storage synchronous wheel 35 and a storage synchronous belt 36;
a roller 41, a bevel gear 42, a bevel gear shaft 43, a stepping motor 44 and a sensor 45.
Detailed Description
The embodiment of the invention discloses a glass feeding and discharging device, which is used for achieving the function of reducing the quantity of glass in the glass flow production process.
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 7, fig. 1 is a schematic three-dimensional structure of a glass feeding and discharging device according to an embodiment of the present invention; FIG. 2 is a front view of FIG. 1; FIG. 3 is a top view of FIG. 1; FIG. 4 is a schematic three-dimensional structure of a first pick-up robot; fig. 5-fig. are schematic three-dimensional structures of the second material taking manipulator, the material feeding line, the material discharging line and the material storing sucker respectively.
In a specific embodiment, the glass feeding and discharging device provided by the invention comprises a feeding line 4, a discharging line 5, a storage sucker 3, a first material taking manipulator 1 and a second material taking manipulator 2.
The feeding line 4 is used for flowing in a first preset quantity of glass 6, the discharging line 5 is used for flowing out a second preset quantity of glass 6, and the first preset quantity is larger than the second preset quantity. That is, the feeding line 4 and the discharging line 5 are both conveying devices for conveying the glass 6, and the specific structure thereof can be referred to a conventional glass 6 conveying device in the prior art, and is not particularly limited herein. The first preset number is larger than the second preset number, that is, the glass 6 in the glass feeding and discharging device is more in and less out, so that the glass 6 discharged by the upstream equipment is correspondingly conveyed to the downstream equipment for feeding after being reduced in number.
The first material taking manipulator 1 and the second material taking manipulator 2 are respectively matched with the feeding line 4 and the material outlet line 5 and can move along the vertical direction and the front-back direction, and the first material taking manipulator 1 is provided with feeding suckers 14 which are respectively in one-to-one correspondence with the glass 6 on the feeding line 4; the second material taking manipulator 2 is provided with a second preset number of material discharging sucking discs 15 which are respectively in one-to-one correspondence with the glass 6 on the material discharging line 5. The structures of the first and second reclaiming robots 1 and 2 are not particularly limited, and may be movable in the vertical direction and the front-rear direction, respectively.
The first material taking manipulator 1 is provided with feeding suckers 14 corresponding to the glass 6 on the feeding line 4 one by one, that is, each feeding sucker 14 can move back and forth along with the first material taking manipulator 1 to correspond to each glass 6 on the feeding line 4, then each feeding sucker 14 vertically moves along with the first material taking manipulator 1 to enable each feeding sucker 14 to suck each glass 6 on the feeding line 4 respectively, then each feeding sucker 14 moves back and forth along with the first material taking manipulator 1 to the position of the material storage sucker 3, and the glass 6 on each feeding sucker 14 vertically moves to enable the first material taking manipulator 1 to be placed on each adsorption position 33 of the material storage sucker 3 one by one.
The second material taking manipulator 2 is provided with discharge suckers 15 corresponding to the glass 6 on the material discharging line 5 one by one, that is, each discharge sucker 15 can move to the material storing sucker 3 along with the second material taking manipulator 2 front and back, then the discharge sucker 15 moves vertically along with the second material taking manipulator 2 to suck the glass 6 corresponding to the material storing sucker 3 in position and quantity, then each discharge sucker 15 moves along with the second material taking manipulator 2 front and back to correspond to each glass 6 on the material discharging line 5, and the discharge sucker 15 moves vertically along with the second material taking manipulator 2 to place each glass 6 on the material discharging line 5 one by one.
The storage sucker 3 is arranged between the feeding line 4 and the discharging line 5, has a plurality of adsorption positions 33 which are not less than a first preset number, and the storage sucker 3 can move left and right. That is, the number of adsorption sites 33 of the storage sucker 3 is greater than the first preset number, so that after the first preset number of glass 6 is placed on the storage sucker 3, the storage sucker 3 moves left and right, and the adsorption sites 33 corresponding to the difference between the first preset number and the second preset number are moved to be staggered with the discharge sucker 15, so that the glass 6 is stored. The adsorption sites 33 are uniformly arranged and correspond to the positions of the feeding sucking disc 14 and the discharging sucking disc 15 so as to transfer the glass 6 among the feeding line 4, the storage sucking disc 3 and the discharging line 5.
Here and hereinafter, the right-left direction and the front-rear direction refer to opposite directions, and are not limited to absolute orientations. The suction positions 33 of the feeding suction cup 14, the discharging suction cup 15 and the storage suction cup 3 are preferably all vacuum suction.
By applying the glass feeding and discharging device provided by the invention, firstly, the suction cup 3 acts to enable the suction position 33 at the rightmost end to correspond to the glass 6 at the rightmost end of the feeding line 4; then the first material taking manipulator 1 moves to enable the feeding sucking discs 14 to be opposite to the glass 6 on the feeding line 4 one by one, and each glass 6 is transferred to the corresponding adsorption position 33 of the material storage sucking disc 3; then the storage sucker 3 moves rightwards, so that the adsorption position 33 adsorbed with the leftmost end of the glass 6 corresponds to the leftmost end of the glass 6 of the discharge line 5; and then the second material taking manipulator 2 moves to transfer each glass 6 corresponding to the material discharging sucker 15 to the material discharging line 5. Through the device, glass 6 feeding and discharging conversion that the upstream feeding is greater than the downstream feeding can be automatically completed in the glass 6 running process, the degree of automation is improved, and the device is stable and reliable, high in efficiency, low in cost and convenient to maintain.
Specifically, the first material taking manipulator 1 and the second material taking manipulator 2 both comprise an X-axis guide rail 11 arranged along the front-back direction and a Y-axis guide rail 12 arranged along the vertical direction, the Y-axis guide rail 12 can move back and forth along the X-axis guide rail 11 under the drive of the X-axis driving component, a slide block connecting plate 13 is arranged in cooperation with the Y-axis guide rail 12, and the slide block connecting plate 13 can move vertically along the Y-axis guide rail 12 under the drive of the Y-axis driving component. The position of the first material taking manipulator 1 corresponds to the feeding line 4, so that the feeding sucking discs 14 correspond to the glass 6 on the feeding line 4 one by one, the position of the second material taking manipulator 2 corresponds to the discharging line 5, and the discharging sucking discs 15 correspond to the positions of the glass 6 on the discharging line 5 one by one. Preferably, the first material taking manipulator 1 is arranged on the right side of the material feeding line 4, and the second material taking manipulator 2 is arranged on the left side of the material discharging line 5, so that movement interference is avoided, and layout is convenient.
The first preset number of feeding suckers 14 are fixed on the sliding block connecting plate 13 of the first material taking manipulator 1, and the second preset number of discharging suckers 15 are fixed on the sliding block connecting plate 13 of the second material taking manipulator 2. The slide block connecting plate 13 specifically may include a slide block matched with the Y-axis guide rail 12 and a support member fixedly connected with the slide block, where each of the feeding suction cup 14 and the discharging suction cup 15 is fixedly installed on the corresponding support member. Of course, the support should extend in the left-right direction, and each of the feeding suction cups 14 is arranged on the support of the first reclaiming robot 1 corresponding to the position of each glass 6 on the feeding line 4, and each of the discharging suction cups 15 is arranged on the support of the second reclaiming robot 2 corresponding to the position of each glass 6 on the discharging line 5. The front-back and vertical movement of the first material taking manipulator 1 and the second material taking manipulator 2 is realized through the X-axis guide rail 11 and the Y-axis guide rail 12, and the structure is simple and reliable.
Further, the X-axis driving part comprises an X-axis servo motor 16, the X-axis servo motor 16 drives an X-axis synchronous wheel 17 to drive an X-axis synchronous belt 18 to move, and the Y-axis guide rail 12 is fixedly connected with the X-axis synchronous belt 18 to synchronously move along with the X-axis synchronous belt 18. That is, the X-axis servo motor 16 drives the Y-axis guide rail 12 to move back and forth along the X-axis guide rail 11 through the transmission of the synchronous belt and the synchronous wheel, and the closed-loop control is accurate and reliable.
Further, the Y-axis driving part includes a Y-axis servo motor 19, and the Y-axis servo motor 19 drives the screw 20 to rotate, and the slider connecting plate 13 cooperates with the screw 20 to move along the Y-axis guide rail 12 when the screw 20 rotates. That is, the Y-axis servo motor 19 drives the slide block connecting plate 13 to vertically move along the Y-axis guide rail 12 through the transmission of the lead screw 20, and the servo motor performs closed-loop control, so that the device is accurate and reliable. The screw 20 may be a ball screw 20.
Specifically, the feeding line 4 and the discharging line 5 each include a plurality of rows of roller shafts arranged in parallel, a plurality of rollers 41 are mounted on the roller shafts, one end of each roller shaft is respectively connected with a bevel gear 42, and each bevel gear 42 can rotate under the drive of the feeding driving component. That is, the driving part drives the bevel gears comprising the bevel gears, and the bevel gears respectively transmit power to each roller shaft to drive the rollers 41 to roll so as to flow in and out the glass 6.
Preferably, the driving part adopts a stepping motor 44, that is, the stepping motor 44 is used as a power source, a bevel gear shaft 43 is meshed with each bevel gear 42, and the stepping motor 44 drives a feeding and discharging synchronous wheel synchronous belt to drive the bevel gear shaft 43 to rotate, so that the bevel gears 42 are driven to rotate. In order to facilitate detection of the position and the in-out state of the glass 6, sensors 45 are respectively provided on the feed line 4 and the discharge line 5 to detect the position and the in-out state of the glass 6.
In the above embodiments, the storage sucker 3 includes the linear guide rail 31 disposed in the left-right direction and the vacuum platform 32 having the suction position 33, and the vacuum platform 32 can be moved along the linear guide rail 31 by the driving of the storage driving part. That is, the vacuum platform 32 has adsorption sites 33 larger than the first preset number, and the driving component drives the vacuum platform 32 to move left and right along the linear guide rail 31 so as to temporarily store more glass 6 than discharged materials.
Further, the storage driving component comprises a storage servo motor 34, the storage servo motor 34 drives a storage synchronous wheel 35 to drive a storage synchronous belt 36 to move, and the vacuum platform 32 is fixedly connected with the storage synchronous belt 36 so as to synchronously move along with the storage synchronous belt 36. The vacuum platform 32 is driven to linearly move through the discharging servo motor, closed-loop control is realized, and the device is accurate and reliable. The above-mentioned driving devices respectively use a servo motor or a stepping motor 44 and drive them by a synchronous belt synchronous wheel or a screw 20, so that the control accuracy is high. Other driving devices can be adopted to drive the movement of each part according to the requirement, such as a common motor, a telescopic cylinder and the like. The transmission can also be carried out by a gear chain.
On the basis of the above embodiments, the number of the adsorption sites 33 is an integer multiple of the second preset number, which is equal to the first preset number. That is, the first preset number is one larger than the second preset number, on the basis, the number of the adsorption positions 33 of the storage sucker 3 is set to be an integer multiple of the second preset number, when the glass feeder works, firstly, the left-most adsorption position 33 corresponds to the right-most glass 6 of the feeding line 4 through the storage action; then the first material taking manipulator 1 moves to enable the feeding sucking discs 14 to be opposite to the glass 6 on the feeding line 4 one by one, and each glass 6 is transferred to the corresponding adsorption position 33 of the material storage sucking disc 3; then the storage sucker 3 moves rightwards, so that the adsorption position 33 adsorbed with the leftmost end of the glass 6 corresponds to the leftmost end of the glass 6 of the discharge line 5; then the second material taking manipulator 2 moves to transfer each glass 6 corresponding to the material discharging sucker 15 to the material discharging line 5; then repeating the steps until the glass 6 is adsorbed on the second preset number of adsorption positions 33 on the right side of the storage sucker 3, and moving the storage sucker 3 leftwards to enable the adsorption position 33 adsorbed with the rightmost end of the glass 6 to correspond to the position of the rightmost end of the glass 6 of the discharge line 5; and then the second material taking manipulator 2 moves to transfer each glass 6 corresponding to the material discharging sucker 15 to the material discharging line 5. Through the arrangement, the glass 6 temporarily stored on the storage sucker 3 can be automatically discharged.
The embodiment of the invention discloses a glass 6 feeding method, which adopts any one of the glass feeding and discharging devices in the embodiment, and in a specific embodiment, the method comprises the following steps:
s1: the suction cup 3 acts to enable the suction position 33 at the rightmost end to correspond to the glass 6 at the rightmost end of the feeding line 4;
the right end here refers to only the opposite end of the storage sucker 3, and does not limit the absolute position. Firstly, the suction position 33 at the rightmost end of the suction positions 33 empty of the storage suction cup 3 corresponds to the suction cup at the rightmost end of the feeding line 4 so as to facilitate feeding.
S2: the first material taking manipulator 1 moves to enable the feeding sucking discs 14 to be opposite to the glass 6 on the feeding line 4 one by one, and each glass 6 is transferred to the corresponding adsorption position 33 of the material storage sucking disc 3;
s3: the storage sucker 3 moves rightwards, so that the adsorption position 33 adsorbed with the leftmost end of the glass 6 corresponds to the leftmost end of the glass 6 of the discharge line 5;
the storage sucker 3 moves the adsorption position 33 by a specific amount, which is the difference between the first preset amount and the second preset amount, to temporarily store the glass 6 on the corresponding adsorption position 33. And the glass 6 corresponding to the second preset number of adsorption positions 33 is taken out and transferred onto the discharge line 5 by the discharge sucker 15 and is transported to downstream equipment. Corresponding to the leftmost glass 6 position of the discharge line 5, i.e. to the leftmost discharge suction cup 15.
S4: the second material taking manipulator 2 moves to transfer each glass 6 corresponding to the material discharging sucker 15 to the material discharging line 5.
Further, the step S4 further includes, after adding the second preset number to the first preset number, that is, the number of adsorption sites 33 is an integer multiple of the second preset number,
s5: returning to the step S2, until the glass 6 is adsorbed on the second preset number of adsorption positions 33 on the right side of the storage sucker 3, the storage sucker 3 moves left, so that the adsorption position 33 adsorbed with the rightmost end of the glass 6 corresponds to the position of the rightmost end of the glass 6 of the discharge line 5; the method comprises the steps of carrying out a first treatment on the surface of the
S6: the second material taking manipulator 2 moves to transfer each glass 6 corresponding to the material discharging sucker 15 to the material discharging line 5.
According to the glass 6 feeding and discharging method, by adopting the glass feeding and discharging device, glass 6 feeding and discharging conversion that upstream discharging is larger than downstream feeding can be automatically completed in the glass 6 running process, so that the degree of automation is improved, and the glass feeding and discharging device is stable, reliable, high in efficiency and low in cost.
In the following, an example will be described in which five glasses 6 are provided on the feed line 4 and four glasses 6 are required for the discharge line 5.
The first material taking manipulator 1 is provided with five groups of feeding sucking discs 14, the positions of the feeding sucking discs just correspond to the positions of 5 pieces of glass 6 from a material feeding line, and the second material taking manipulator 2 is provided with four groups of discharging sucking discs 15, but just correspond to the positions of 4 pieces of glass 6 from a material discharging line. In the initial position of the storage chuck 3, the rightmost first vacuum suction station 33 is aligned with the rightmost first sheet of glass 6 of the glass 6. When upstream equipment supplies 5 glass 6, first extracting robot 1 action takes 5 glass 6 off from feed line 4 and puts to 5 positions on the right of storage sucking disc 3, then storage sucking disc 3 action, and the station of 6 interval of glass that moves to the right, then second extracting robot 2 action takes 4 glass 6 on the left of correspondence on the storage sucking disc 3 off, puts into on the delivery line 5 and flows to downstream equipment. When the second discharging is performed, the first material taking manipulator 1 moves in the same way, the 5 pieces of glass are grabbed and put into the material storage sucker 3, at the moment, the material storage sucker 3 moves to the right by a station with a glass 6 interval, then the second material taking manipulator 2 continues to move, the leftmost 4 pieces of glass 6 corresponding to the material storage sucker 3 are taken away, and the left pieces of glass 6 are put into the material outlet line 5 and flow out to downstream equipment. By analogy, after the first material taking manipulator 1 moves for 4 times, the material storage sucker 3 moves to the right for 4 stations, at this time, 4 pieces of material are just fully stored on the rightmost side of the material storage sucker 3, then the material storage sucker 3 moves to the left to an initial position, namely, the rightmost first vacuum adsorption position 33 is aligned with the rightmost first piece of glass 6 of the incoming glass 6, at this time, the second material taking manipulator 2 takes away the 4 pieces of glass 6, and the 4 pieces of glass are put on the material outlet line 5 and flow out to downstream equipment, so that multiple and few conversions are skillfully realized.
In conclusion, the glass feeding and discharging device is matched with simple module combination, roller 41 conveying, vacuum adsorption and the like to achieve the function of reducing the quantity of glass 6 in the process of glass 6 flow production, and is stable, reliable, high in efficiency, low in cost and convenient to maintain.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. The glass feeding and discharging device is characterized by comprising a feeding line for feeding a first preset amount of glass and a discharging line for discharging a second preset amount of glass, wherein the first preset amount is larger than the second preset amount, and a storage sucker is arranged between the feeding line and the discharging line;
a first material taking manipulator and a second material taking manipulator which can move along the vertical direction and the front-back direction are respectively arranged in cooperation with the feeding line and the discharging line, and the first material taking manipulator is provided with feeding sucking discs which are respectively in one-to-one correspondence with all the glasses on the feeding line; the second material taking manipulator is provided with a second preset number of material discharging sucking discs which are respectively in one-to-one correspondence with the glass on the material discharging line;
the storage sucker is provided with a plurality of adsorption positions which are not less than the first preset number, and can move left and right;
the second preset number is added with one to be equal to the first preset number, and the number of the adsorption bits is an integer multiple of the second preset number;
in the glass flow process, the suction cup acts to enable the suction position at the rightmost end which is empty to correspond to the glass at the rightmost end of the feeding line; the first material taking manipulator moves to enable the feeding sucker to be opposite to each glass on the feeding line one by one, and each glass is transferred to the adsorption position corresponding to the material storage sucker; the storage sucker moves rightwards, so that the adsorption position adsorbed with the leftmost end of the glass corresponds to the leftmost glass position of the discharging line; and the second material taking manipulator moves to transfer each glass corresponding to the material discharging sucker to the material discharging line.
2. The glass feeding and discharging device according to claim 1, wherein the first material taking manipulator and the second material taking manipulator both comprise an X-axis guide rail arranged in the front-back direction and a Y-axis guide rail arranged in the vertical direction, the Y-axis guide rail can move along the X-axis guide rail under the drive of the X-axis driving component, a slide block connecting plate is arranged in cooperation with the Y-axis guide rail, the slide block connecting plate can move along the Y-axis guide rail under the drive of the Y-axis driving component, a first preset number of feeding suckers are fixed on the slide block connecting plate of the first material taking manipulator, and a second preset number of discharging suckers are fixed on the slide block connecting plate of the second material taking manipulator.
3. The glass feeding and discharging device according to claim 2, wherein the X-axis driving part comprises an X-axis servo motor, the X-axis servo motor drives an X-axis synchronous wheel to drive an X-axis synchronous belt to move, and the Y-axis guide rail is fixedly connected with the X-axis synchronous belt to move synchronously with the X-axis synchronous belt.
4. The glass feeding and discharging device according to claim 2, wherein the Y-axis driving part comprises a Y-axis servo motor, the Y-axis servo motor drives a screw to rotate, and the slide block connecting plate is matched with the screw to move along the Y-axis guide rail when the screw rotates.
5. The glass feeding and discharging device according to claim 1, wherein the feeding line and the discharging line comprise a plurality of rows of roller shafts arranged in parallel, a plurality of rollers are arranged on the roller shafts, one end of each roller shaft is respectively connected with a bevel gear, and the bevel gears can rotate under the drive of a feeding driving component.
6. The glass feeding and discharging device according to claim 1, wherein the storage sucker comprises a linear guide rail arranged in the left-right direction and a vacuum platform with the adsorption position, and the vacuum platform can move along the linear guide rail under the drive of the storage driving component.
7. The glass feeding and discharging device according to claim 6, wherein the storage driving part comprises a storage servo motor, the storage servo motor drives a storage synchronous wheel to drive a storage synchronous belt to move, and the vacuum platform is fixedly connected with the storage synchronous belt to synchronously move along with the storage synchronous belt.
8. A method for feeding and discharging glass, which adopts the glass feeding and discharging device as defined in any one of claims 1 to 7, and is characterized by comprising the steps of:
s1: the suction position at the rightmost end of the suction cup is empty and corresponds to the glass at the rightmost end of the feeding line;
s2: the first material taking manipulator moves to enable the feeding sucker to be opposite to each glass on the feeding line one by one, and each glass is transferred to the adsorption position corresponding to the material storage sucker;
s3: the storage sucker moves rightwards, so that the adsorption position adsorbed with the leftmost end of the glass corresponds to the leftmost glass position of the discharging line;
s4: and the second material taking manipulator moves to transfer each glass corresponding to the material discharging sucker to the material discharging line.
9. The glass feeding and discharging method according to claim 8, further comprising, after the step S4:
s5: returning to the step S2, until the second preset number of adsorption positions are adsorbed with the glass on the right side of the storage sucker, moving the storage sucker to the left, so that the adsorption position adsorbed with the rightmost end of the glass corresponds to the position of the rightmost end of the discharge line;
s6: and the second material taking manipulator moves to transfer each glass corresponding to the material discharging sucker to the material discharging line.
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| CN201811208502.8A CN109019022B (en) | 2018-10-17 | 2018-10-17 | Glass feeding and discharging device and method |
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| CN201811208502.8A CN109019022B (en) | 2018-10-17 | 2018-10-17 | Glass feeding and discharging device and method |
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| CN109650070A (en) * | 2018-12-24 | 2019-04-19 | 深圳市伟鸿科科技有限公司 | Mobile phone glass placement device and mobile phone glass transfer method |
| EP4070924A4 (en) * | 2019-12-06 | 2023-12-20 | SMC Corporation | Vacuum suction cylinder assembly |
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