CN111232648A

CN111232648A - Photovoltaic glass deep-processing grabbing and stacking system

Info

Publication number: CN111232648A
Application number: CN202010190173.XA
Authority: CN
Inventors: 陈坤; 黄祥; 汪丽琼; 吕宏伟; 杨至睿; 藏东东; 刘鹏飞; 陈超峰
Original assignee: Cnbm Triumph Robotics Shanghai Co ltd
Current assignee: Cnbm Triumph Robotics Shanghai Co ltd
Priority date: 2020-03-18
Filing date: 2020-03-18
Publication date: 2020-06-05

Abstract

The invention relates to a photovoltaic glass deep-processing grabbing and stacking system which comprises a conveying roller way, a grabbing roller way, a side pushing device, an edge wheel device, a turning device, a manipulator and a stacking station, wherein the grabbing roller way is arranged behind the conveying roller way; the side pushing device is arranged above the conveying roller way, and the front end of the grabbing roller way is close to the glass conveying inlet; the side wheel device is arranged at the tail end of the grabbing roller way and is close to a glass conveying outlet; the turning-up device is arranged on the side surface of the grabbing roller bed; the manipulator is arranged on the side surface of the grabbing roller way and is opposite to the turning-up device; the stacking stations are arranged on two sides of the rear part of the manipulator. By adopting the photovoltaic glass deep processing grabbing and stacking system, a good solution is provided for a photovoltaic deep processing glass unloading mode, the upper surface of glass can be grabbed on the basis of grabbing the lower surface of the glass conventionally, the stacking precision and the glass quality are ensured, and the intellectualization and modularization of the industry are realized.

Description

Photovoltaic glass deep-processing grabbing and stacking system

Technical Field

The invention relates to the field of photovoltaics, in particular to the field of deep processing of photovoltaic glass, and specifically relates to a grabbing and stacking system for deep processing of photovoltaic glass.

Background

The photovoltaic glass is used as one of raw materials for producing photovoltaic modules, and the yield of the photovoltaic glass is increased year by year along with the development of new energy industries. At present, the photovoltaic glass deep processing and blanking are divided into manual blanking and automatic equipment blanking, wherein the manual blanking efficiency is low, and few factories use the photovoltaic glass deep processing and blanking; the automatic equipment downloading is relatively low in cost at present, so that the labor cost of an enterprise is effectively reduced, and the automatic equipment downloading is welcomed by the majority of photovoltaic glass enterprises; in multiple automation equipment, the use industrial robot is lower because its customizable degree is high, long service life, the beat is fast, can adapt to characteristics such as multistation condition, has at present progressively promoted in each big photovoltaic glass deep-processing enterprise.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a photovoltaic glass deep processing grabbing and stacking system which is intelligent, modularized and wide in application range.

In order to achieve the purpose, the photovoltaic glass deep processing grabbing and stacking system comprises the following components:

the grabbing and stacking system for the photovoltaic glass deep processing is mainly characterized by comprising a conveying roller way, a grabbing roller way, a side pushing device, an edge wheel device, a turning device, a manipulator and a stacking station, wherein the grabbing roller way is arranged behind the conveying roller way and used for stopping glass so as to facilitate subsequent actions; the side pushing device is arranged above the conveying roller way, is close to a glass conveying inlet at the front end of the grabbing roller way and is used for laterally pushing glass to position the glass; the side wheel device is arranged at the tail end of the grabbing roller way, is close to a glass conveying outlet and is used for positioning glass; the turning-up device is arranged on the side surface of the grabbing roller way and is used for inclining the glass to enable the glass to slide downwards; the manipulator is arranged on the side surface of the grabbing roller way and is opposite to the turning-up device, and is used for carrying glass and realizing the upper grabbing and stacking of the glass; the stacking stations are arranged on two sides of the rear part of the manipulator.

Preferably, the conveying roller way comprises a first roller way frame, a first transmission assembly, a plurality of first full rubber rollers and a first housing, the first roller way frame comprises a plurality of first full rubber rollers which are arranged in parallel, and the first transmission assembly is arranged on the side surface of the first roller way frame and used for driving the first full rubber rollers to rotate; the first cover casing is arranged on the side surface of the first roller way frame and outside the first transmission assembly.

Preferably, the first transmission assembly comprises a first speed reduction motor, a first chain wheel, a first transmission shaft and a plurality of circular belt wheels, the first speed reduction motor is arranged below the first roller way frame, the first chain wheel is connected with the first speed reduction motor, and the first transmission shaft is arranged on the side surface of the first roller way frame and is connected with the first transmission shafts; the circular belt wheels correspond to the first full rubber rollers one by one, and each circular belt wheel is connected between the corresponding first full rubber roller and the corresponding first transmission shaft; the first speed reduction motor drives a first transmission shaft to rotate through a first chain wheel, and the first transmission shaft drives a first full rubber roller to rotate through a circular belt wheel.

Preferably, the grabbing roller way comprises a second roller way frame, a second transmission assembly, a plurality of second full rubber rollers and a second housing, the second roller way frame comprises a plurality of second full rubber rollers which are placed in parallel, and the second transmission assembly is mounted on the side surface of the second roller way frame and used for driving the second full rubber rollers to rotate; the second housing is arranged on the side surface of the second roller way frame and is outside the second transmission assembly.

Preferably, the second transmission assembly comprises a second speed reduction motor, a second chain wheel, a second transmission shaft and a plurality of bevel gears, the second speed reduction motor is mounted on the second roller way frame, the second chain wheel is connected with the second speed reduction motor, and the second transmission shaft is arranged on the side of the second roller way frame and is connected with the plurality of second transmission shafts; the bevel gears correspond to the second full rubber rollers one by one, and each bevel gear is connected between the corresponding second full rubber roller and the second transmission shaft; the second speed reduction motor drives a second transmission shaft to rotate through a second chain wheel, the second transmission shaft drives a second full rubber roller to rotate through a bevel gear, and the bevel gear is used for ensuring that the stop position of the glass on the grabbing roller way is accurate.

Preferably, the side pushing device comprises a frame body, a stepping motor, a synchronous belt pulley, a screw nut pair, a connecting plate, a linear sliding rail, a linear sliding block and a side pushing plate, wherein the stepping motor is installed above the frame body, the stepping motor drives the screw nut pair to move through the synchronous belt pulley, a nut of the screw nut pair is fixedly connected with the linear sliding rail through the connecting plate, the screw nut pair drives the linear sliding rail to move back and forth, two fixed linear sliding blocks are placed on the linear sliding rail, and the side pushing plate is placed at the front end of the linear sliding rail and used for pushing glass and positioning the glass.

Preferably, the edge wheel device comprises a positioning frame, a positioning mounting plate and a first positioning wheel, the positioning mounting plate is fixed on the positioning frame, the positioning mounting plate is provided with a plurality of positioning holes, and the first positioning wheel is fixed in the positioning holes.

Preferably, the mounting surface of the positioning hole forms a certain angle with the horizontal plane, and the angle is adjustable.

Preferably, the first positioning wheel is externally wrapped with nitrile rubber.

Preferably, the turning-up device include base, servo drive motor, pivot, expand tight cover, roll-over table and stop device, servo drive motor arrange in on the base, the pivot be connected with servo drive motor, the pivot traversing roll-over table, roll-over table and pivot be connected through expanding tight cover, stop device be fixed in the pivot for guarantee system operation safety, the turning-up device realize the angle upset through servo drive motor.

Preferably, the overturning platform comprises a transmission plate, an overturning platform frame, a traceless universal wheel and an edge-leaning wheel, the overturning platform frame is connected with the rotating shaft through an expansion sleeve, the overturning platform frame is provided with the traceless universal wheel and the edge-leaning wheel, and the transmission plate is connected with the overturning platform frame.

Preferably, the manipulator comprises an air cylinder, a second positioning wheel and a sucker assembly, the second positioning wheel is mounted at the end part of an extension rod of the air cylinder, the sucker assembly is mounted on the air cylinder, and a side leaning wheel is mounted at the end of a piston rod of the air cylinder.

Preferably, the turning angle of the turning-up device is 0-120 degrees.

By adopting the photovoltaic glass deep processing grabbing and stacking system, the upper grabbing and the lower grabbing of the photovoltaic deep processing glass can be switched randomly, the surface of the glass is guaranteed to be traceless and have no print, the quality requirement of manufacturers on the glass is met, the production efficiency is improved, a good solution is provided for the lower piece mode of the photovoltaic deep processing glass, the upper surface of the glass can be grabbed on the basis of grabbing the lower surface of the glass conventionally, the stacking precision and the glass quality are guaranteed, and the intellectualization and modularization of the industry are realized.

Drawings

Fig. 1 is a schematic structural diagram of a photovoltaic glass deep processing grabbing and stacking system.

Fig. 2 is a schematic diagram of a conveying roller table of the photovoltaic glass deep-processing grabbing and stacking system.

Fig. 3 is a schematic view of a grabbing roller table of the photovoltaic glass deep processing grabbing stacking system.

Fig. 4 is a schematic view of a side pushing device of the photovoltaic glass deep processing grabbing and stacking system.

Fig. 5 is a schematic view of an edge wheel device of the photovoltaic glass deep processing grabbing and stacking system.

Fig. 6 is a schematic view of a turning device of the photovoltaic glass deep processing grabbing and stacking system.

Fig. 7 is a schematic diagram of a manipulator of the photovoltaic glass deep processing grabbing and stacking system.

Fig. 8 is a schematic diagram of stacking stations in the photovoltaic glass stacking of the photovoltaic glass deep processing grabbing stacking system.

Reference numerals:

100 conveying roller way

200 snatch roll table

300 side pushing device

400 edge-leaning wheel device

500 turning-up device

600 mechanical arm

700 stacking stations

110 first roller way frame

120 first transmission assembly

130 first full rubber roll

140 first cover

121 first reduction motor

122 first chain wheel

123 first transmission shaft

124 round belt wheel

210 second roller way frame

220 second transmission assembly

230 second full rubber roller

240 second housing

221 second reduction motor

222 second sprocket

223 second drive shaft

224 bevel gear

310 shelf body

320 step motor

330 synchronous pulley

340 leading screw nut pair

350 connecting plate

360 linear sliding rail

370 linear slider

380 side pushing plate

410 positioning frame

420 positioning mounting plate

430 first positioning wheel

510 base

520 servo drive motor

530 rotation shaft

540 expanding sleeve

550 overturning table

560 stop device

551 drive plate

552 overturning platform frame

553 seamless universal wheel

554 side wheel

610 cylinder

620 second positioning wheel

630 sucking disc subassembly

Detailed Description

In order to more clearly describe the technical contents of the present invention, the following further description is given in conjunction with specific embodiments.

The photovoltaic glass deep processing grabbing and stacking system comprises a conveying roller way 100, a grabbing roller way 200, a side pushing device 300, an edge wheel device 400, a turning-up device 500, a manipulator 600 and a stacking station 700, wherein the grabbing roller way 200 is arranged behind the conveying roller way 100 and used for stopping glass, so that follow-up actions are facilitated; the side pushing device 300 is arranged above the conveying roller way 100, is close to a glass conveying inlet at the front end of the grabbing roller way 200, and is used for laterally pushing glass to position the glass; the edge wheel device 400 is arranged at the tail end of the grabbing roller way 200, is close to a glass conveying outlet and is used for positioning glass; the turning-up device 500 is arranged on the side surface of the grabbing roller way 200 and is used for inclining the glass to enable the glass to slide downwards; the manipulator 600 is arranged on the side surface of the grabbing roller way 200 and opposite to the turning-up device 500, and is used for carrying glass and realizing the upper grabbing and stacking of the glass; the stacking stations 700 are disposed at both sides of the rear portion of the robot 600.

As a preferred embodiment of the present invention, the conveying roller 100 includes a first roller frame 110, a first transmission assembly 120, a plurality of first full rubber rollers 130 and a first housing 140, the first roller frame 110 includes a plurality of first full rubber rollers 130 disposed in parallel, and the first transmission assembly 120 is installed on a side surface of the first roller frame 110 and is used for driving the first full rubber rollers 130 to rotate; the first cover 140 is disposed on a side of the first roller frame 110 and outside the first transmission assembly 120.

As a preferred embodiment of the present invention, the first transmission assembly 120 includes a first reduction motor 121, a first chain wheel 122, a first transmission shaft 123 and a plurality of circular belt wheels 124, the first reduction motor 121 is disposed below the first roller bed frame 110, the first chain wheel 122 is connected to the first reduction motor 121, the first transmission shaft 123 is disposed on a side surface of the first roller bed frame 110 and is connected to the plurality of first transmission shafts 123; the circular belt wheels 124 correspond to the first full rubber covered rollers 130 one by one, and each circular belt wheel 124 is connected between the corresponding first full rubber covered roller 130 and the corresponding first transmission shaft 123; the first speed reducing motor 121 drives the first transmission shaft 123 to rotate through the first chain wheel 122, and the first transmission shaft 123 drives the first full rubber roll 130 to rotate through the circular belt wheel 124.

As a preferred embodiment of the present invention, the grabbing roller table 200 includes a second roller table frame 210, a second transmission assembly 220, a plurality of second full-rubber rollers 230 and a second housing 240, the second roller table frame 210 includes a plurality of second full-rubber rollers 230 disposed in parallel, and a second transmission assembly 220 is installed on a side surface of the second roller table frame 210 and is used for driving the second full-rubber rollers 230 to rotate; the second housing 240 is disposed at a side of the second roller path frame 210 and outside the second transmission assembly 220.

As a preferred embodiment of the present invention, the second transmission assembly 220 includes a second reduction motor 221, a second sprocket 222, a second transmission shaft 223 and a plurality of bevel gears 224, the second reduction motor 221 is mounted on the second roller way frame 210, the second sprocket 222 is connected to the second reduction motor 221, the second transmission shaft 223 is disposed at a side of the second roller way frame 210 and is connected to the plurality of second transmission shafts 223; the bevel gears 224 correspond to the second full rubber rollers 230 one by one, and each bevel gear 224 is connected between the corresponding second full rubber roller 230 and the second transmission shaft 223; the second speed reducing motor 221 drives the second transmission shaft 223 to rotate through the second chain wheel 222, the second transmission shaft 223 drives the second full rubber roll 230 to rotate through the bevel gear 224, and the bevel gear 224 is used for ensuring that the stop position of the glass on the grabbing roller bed 200 is accurate.

As a preferred embodiment of the present invention, the side pushing device 300 includes a frame body 310, a stepping motor 320, a synchronous pulley 330, a screw nut pair 340, a connecting plate 350, a linear sliding rail 360, a linear sliding block 370 and a side pushing plate 380, the stepping motor 320 is installed above the frame body 310, the stepping motor 320 drives the screw nut pair 340 to move through the synchronous pulley 330, a nut of the screw nut pair 340 is fixedly connected with the linear sliding rail 360 through the connecting plate 350, the screw nut pair 340 drives the linear sliding rail 360 to move back and forth, two fixed linear sliding blocks 370 are disposed on the linear sliding rail 360, and the side pushing plate 380 is disposed at the front end of the linear sliding rail 360 and used for pushing glass and positioning glass.

As a preferred embodiment of the present invention, the edge wheel device 400 includes a positioning frame 410, a positioning mounting plate 420 and a first positioning wheel 430, the positioning mounting plate 420 is fixed on the positioning frame 410, the positioning mounting plate 420 has a plurality of positioning holes, and the first positioning wheel 430 is fixed in the positioning holes.

As a preferred embodiment of the invention, the mounting surface of the positioning hole forms a certain angle with the horizontal plane, and the angle is adjustable.

In a preferred embodiment of the present invention, the first positioning wheel 430 is externally wrapped with nitrile rubber.

As a preferred embodiment of the present invention, the turning-up device 500 includes a base 510, a servo driving motor 520, a rotating shaft 530, an expansion sleeve 540, a turning table 550 and a limiting device 560, the servo driving motor 520 is disposed on the base 510, the rotating shaft 530 is connected to the servo driving motor 520, the rotating shaft 530 transversely passes through the turning table 550, the turning table 550 is connected to the rotating shaft 530 through the expansion sleeve 540, the limiting device 560 is fixed to the rotating shaft 530 for ensuring the safety of the system operation, and the turning-up device 500 realizes the angle turning through the servo driving motor 520.

As a preferred embodiment of the invention, the turning table 550 comprises a driving plate 551, a turning table frame 552, a seamless universal wheel 553 and an edge-leaning wheel 554, the turning table frame 552 is connected with the rotating shaft 530 through an expansion sleeve 540, the turning table frame 552 is provided with the seamless universal wheel 553 and the edge-leaning wheel 554, and the driving plate 551 is connected with the turning table frame 552.

In a preferred embodiment of the present invention, the robot 600 includes an air cylinder 610, a second positioning wheel 620 and a suction cup assembly 630, the second positioning wheel 620 is mounted at an end of an extending rod of the air cylinder 610, the suction cup assembly 630 is mounted on the air cylinder 610, and an edge leaning wheel 554 is mounted at a rod end of a piston rod of the air cylinder 610.

As a preferred embodiment of the present invention, the turning angle of the turning-up device 500 is 0 ° to 120 °.

In the specific embodiment of the invention, the device comprises a transmission roller way 100, a grabbing roller way 200, a side pushing device 300, an edge wheel leaning device 400, a turning device 500, a manipulator 600, a stacking station 700 and a control system, wherein the side pushing device 300, the edge wheel leaning device 400, the turning device 500 and the manipulator 600 are arranged around the grabbing roller way 200; the grabbing roller way 200 is arranged at the rear end of the conveying roller way 100, and stacking stations 700 are arranged on two sides of the rear portion of the manipulator 600. The structure of the grabbing roller way 200 can realize relatively accurate stop during glass conveying; the side pushing device 300 is provided with a stepping motor 320 and a lead screw nut pair 340, so that the side pushing amount with different lengths is carried out on different glass specifications, and the glass is ensured to be positioned accurately; the turning-up device 500 is provided with a traceless universal wheel 553 to ensure that the surface of the glass is not damaged; after the glass is positioned on the turnover device 500, the manipulator 600 can realize the upward grabbing and stacking of the glass.

The conveying roller way 100 comprises a first roller way frame 110, a first transmission assembly 120, a first full rubber roll 130 and a first housing 140, the first roller way frame 110 is formed by connecting and assembling steel pipes and steel plates through screws after welding, the first transmission assembly 120 comprises a first speed reducing motor 121, a first chain wheel 122, a first transmission shaft 123 and a circular belt wheel 124, the first speed reducing motor 121 transmits torque through the first chain wheel 122 to drive the first transmission shaft 123 to rotate, the circular belt wheel 124 is arranged on the first transmission shaft 123 and the first full rubber roll 130, the first transmission shaft 123 drives the first full rubber roll 130 to rotate through the circular belt wheel 124, the transmission part is provided with the first housing 140, and the safety during operation is ensured.

The grabbing roller way 200 comprises a second roller way frame 210, a second transmission assembly 220, a second full-rubber roller 230 and a second housing 240, the second roller way frame 210 is formed by connecting and assembling steel pipes and steel plates through screws after welding, the second transmission assembly 220 comprises a second speed reducing motor 221, a second chain wheel 222, a second transmission shaft 223 and a bevel gear 224, the second speed reducing motor 221 transmits torque through the second chain wheel 222 to drive the second transmission shaft 223 to rotate, the second transmission shaft 223 drives the second full-rubber roller 230 to rotate through the bevel gear 224, the bevel gear 224 is used for ensuring the transmission reliability, the stopping position of glass on the grabbing roller way 200 is relatively accurate, the second housing 240 is arranged on a transmission part, and the operation safety is ensured. The structure of the grabbing roller way 200 is matched with that of the manipulator 600, so that the manipulator 600 can be vertically lifted after extending into the lower part of the roller way. The grabbing roller table 200 uses bevel gears 224 as a transmission means

The side pushing device 300 comprises a frame body 310, a stepping motor 320, a synchronous pulley 330, a lead screw nut pair 340, a connecting plate 350, a linear sliding rail 360, a linear sliding block 370 and a side pushing plate 380, wherein the frame body 310 is formed by assembling welded steel pipes and aluminum profiles; the stepping motor 320 drives the screw nut pair 340 to move through the synchronous belt pulley 330, a screw in the screw nut pair 340 is fixed, the nut is fixed with the linear slide rail 360 through the connecting plate 350, two fixed linear slide blocks 370 are arranged on one linear slide rail 360, when the screw rotates, the screw nut drives the linear slide rail 360 to move back and forth, the side push plate 380 is placed at the front end of the linear slide rail 360, and the glass is pushed through the side push plate 380 to be positioned.

The side pushing device 300 can control different extending amounts according to different specifications of glass by means of a control system.

The side pushing device 300 is driven by the stepping motor 320 to move the ball screw nut

The side wheel device 400 comprises a positioning frame 410, a positioning mounting plate 420 and a positioning wheel, wherein the positioning frame 410 is formed by connecting and assembling steel pipes and aluminum profile screws; the positioning mounting plate 420 is fixed on the positioning frame 410; the first positioning wheel 430 is fixed in the positioning hole of the positioning mounting plate 420; the positioning hole mounting surface of the positioning mounting plate 420 has a certain angle with the horizontal plane and is adjustable; the first positioning wheel 430 is wrapped with a layer of nitrile rubber.

The surface of the side wheel 554 is made of nitrile rubber, and the mounting surface of the side wheel 554 has a certain inclination angle.

The turning-up device 500 comprises a base 510, a servo drive motor 520, a rotating shaft 530, an expansion sleeve 540, a turning table 550 and a limiting device 560; the base 510 is formed by welding steel pipes, and the rotating shaft 530 is provided with torque by the servo driving motor 520; the overturning platform 550 comprises a driving plate 551, an overturning platform frame 552, a traceless universal wheel 553 and an edge-leaning wheel 554; the overturning platform frame 552 is connected with the rotating shaft 530 through the expansion sleeve 540, the overturning platform frame is driven by the servo driving motor 520 to realize the overturning at an accurate angle of 0-120 degrees, and the rotating shaft 530 is fixed with the limiting device 560 to ensure the operation safety. The turning angle of the turning device 500 is 0 to 120 degrees, and a traceless universal wheel 553 and an edge wheel 554 are arranged on the turning table frame 552.

The robot 600 includes: a cylinder 610, a second positioning wheel 620 and a suction cup assembly 630; the second positioning wheel 620 is arranged at the end of the extending rod of the air cylinder 610, and the suction cup in the suction cup assembly 630 is worn on the suction cup sleeve. The manipulator 600 is provided with an air cylinder 610, and the rod end of a piston rod of the air cylinder 610 is provided with an edge leaning wheel 554; the manipulator 600 has a chuck cover on the chuck.

The stacking station 700 may be an iron or wood pallet, a paper spreader, or other equipment, and may be equipped with different equipment according to different needs. The number of the stacking stations 700 can be freely adjusted according to actual requirements, and is generally 1-3.

The working process of the invention is as follows:

example of lower surface of grabbed glass:

as shown in fig. 1, after the short edge of the glass enters the conveying roller 100 forward, the glass is continuously conveyed forward to the grabbing roller 200, and the glass is decelerated on the grabbing roller 200 and stops at the set stop position. At this moment, manipulator 600 has been waited for in snatching roll table 200 below, glass stabilizes the back, manipulator 600 level rebound, the sucking disc subassembly 630 through on the manipulator 600 holds up glass, the sucking disc blows compressed air this moment, cylinder 610 takes the locating wheel to stretch out, manipulator 600 becomes to lift up certain angle by the level, because the sucking disc blows at this moment, there is the one deck air bed between sucking disc and the glass, frictional force is very little, glass receives the action of gravity gliding, the long limit of glass leans on two locating wheels promptly, the location is accomplished to the long limit of glass this moment.

At this moment, the mechanical arm 600 is lifted to a certain angle from the short edge of the glass, so that the glass slides to the edge wheel device 400 under the action of gravity, the two positioning wheels are used for keeping the short edges of the glass in order, the glass is positioned at the moment, the sucker assembly 630 is changed from blowing to sucking and sucking the glass on the sucker, after the vacuum pressure meets the condition, the mechanical arm 600 is used for conveying the glass to a specified position to stack the glass, and after the mechanical arm 600 releases the glass, the glass returns to the lower part of the roller way to be ready to wait for the next piece of glass to.

Thus, the lower surface of one piece of photovoltaic glass is grabbed.

Grab glass upper surface example:

as shown in fig. 1, after the short edge of the glass enters the conveying roller 100 forward, the glass is continuously conveyed forward to the grabbing roller 200, and the glass is decelerated on the grabbing roller 200 and stops at the set stop position. At this time, the manipulator 600 stands by above the grabbing roller bed 200, after the glass is stopped, the turning-up device 500 operates, the traceless universal wheel 553 on the turning table 550 drags the glass to rotate for a certain angle, at this time, the glass inclines, the glass slides downwards under the action of gravity and hits the edge-leaning wheel 554, and the long edges of the glass are positioned and aligned; then, a side push plate 380 in the side push device 300 is driven by the stepping motor 320 to extend out, so that the glass is pushed along the conveying direction of the roller way, and the extension amount of the side push device 300 can be controlled according to different lengths of the glass; the alignment of the short sides of the glass is completed until the glass hits the positioning wheels of the lower end portion on the edge wheel device 400.

After the glass is positioned, the suction disc surface of the mechanical arm 600 is parallel to the inclination angle of the turning device 500, the mechanical arm moves downwards and presses the surface of the glass, the suction disc assembly 630 sucks the glass and sucks the glass on the suction disc, after the vacuum pressure meets the condition, the mechanical arm 600 carries the glass to a specified position to stack the glass, and after the mechanical arm 600 releases the glass, the glass returns to the upper part of the roller way to be ready to wait for the next piece of glass to be conveyed in place.

Due to the different action modes for grabbing the upper surface and the lower surface of the glass, the applicable beat for grabbing the upper surface of the glass can be relatively fast.

In this specification, the invention has been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.

Claims

1. The photovoltaic glass deep-processing grabbing and stacking system is characterized by comprising a conveying roller way (100), a grabbing roller way (200), a side pushing device (300), an edge wheel device (400), a turning-up device (500), a manipulator (600) and a stacking station (700), wherein the grabbing roller way (200) is arranged behind the conveying roller way (100) and used for stopping glass so as to facilitate subsequent actions; the side pushing device (300) is arranged above the conveying roller way (100), and the front end of the grabbing roller way (200) is close to a glass conveying inlet and used for laterally pushing glass to position the glass; the edge wheel device (400) is arranged at the tail end of the grabbing roller way (200), is close to the glass conveying outlet and is used for positioning glass; the turning-up device (500) is arranged on the side surface of the grabbing roller way (200) and is used for inclining the glass to enable the glass to slide downwards; the manipulator (600) is arranged on the side surface of the grabbing roller way (200) and opposite to the turning-up device (500), and is used for carrying glass and realizing the upper grabbing and stacking of the glass; the stacking stations (700) are arranged on two sides of the rear part of the manipulator (600).

2. The grasping and stacking system for photovoltaic glass deep processing is characterized in that the conveying roller way (100) comprises a first roller way frame (110), a first transmission assembly (120), a plurality of first full rubber rollers (130) and a first housing (140), the first roller way frame (110) comprises a plurality of first full rubber rollers (130) which are arranged in parallel, and the first transmission assembly (120) is mounted on the side surface of the first roller way frame (110) and used for driving the first full rubber rollers (130) to rotate; the first cover (140) is arranged on the side surface of the first roller way frame (110) and outside the first transmission assembly (120).

3. The grasping and stacking system for photovoltaic glass deep processing is characterized in that the first transmission assembly (120) comprises a first speed reducing motor (121), a first chain wheel (122), a first transmission shaft (123) and a plurality of circular belt wheels (124), the first speed reducing motor (121) is arranged below the first roller way frame (110), the first chain wheel (122) is connected with the first speed reducing motor (121), and the first transmission shaft (123) is arranged on the side surface of the first roller way frame (110) and is connected with the plurality of first transmission shafts (123); the circular belt wheels (124) correspond to the first full rubber rollers (130) one by one, and each circular belt wheel (124) is connected between the corresponding first full rubber roller (130) and the first transmission shaft (123); the first speed reducing motor (121) drives the first transmission shaft (123) to rotate through the first chain wheel (122), and the first transmission shaft (123) drives the first full rubber roll (130) to rotate through the circular belt wheel (124).

4. The grasping and stacking system for photovoltaic glass deep processing according to claim 1, wherein the grasping roller bed (200) comprises a second roller bed frame (210), a second transmission assembly (220), a plurality of second full rubber rollers (230) and a second housing (240), the second roller bed frame (210) comprises a plurality of second full rubber rollers (230) which are arranged in parallel, and the second transmission assembly (220) is mounted on the side surface of the second roller bed frame (210) and used for driving the second full rubber rollers (230) to rotate; the second housing (240) is arranged on the side surface of the second roller way frame (210) and outside the second transmission assembly (220).

5. The grasping and stacking system for photovoltaic glass deep processing according to claim 4, wherein the second transmission assembly (220) comprises a second speed reduction motor (221), a second chain wheel (222), a second transmission shaft (223) and a plurality of bevel gears (224), the second speed reduction motor (221) is installed on the second roller way frame (210), the second chain wheel (222) is connected with the second speed reduction motor (221), the second transmission shaft (223) is arranged on the side of the second roller way frame (210) and is connected with the plurality of second transmission shafts (223); the bevel gears (224) correspond to the second full rubber covered rollers (230) one by one, and each bevel gear (224) is connected between the corresponding second full rubber covered roller (230) and the second transmission shaft (223); the second speed reducing motor (221) drives the second transmission shaft (223) to rotate through the second chain wheel (222), the second transmission shaft (223) drives the second full rubber roll (230) to rotate through the bevel gear (224), and the bevel gear (224) is used for ensuring that the stop position of the glass on the grabbing roller way (200) is accurate.

6. The grasping and stacking system for photovoltaic glass deep processing is characterized in that the side pushing device (300) comprises a frame body (310), a stepping motor (320), a synchronous pulley (330), a screw-nut pair (340), a connecting plate (350), a linear sliding rail (360), a linear sliding block (370) and a side pushing plate (380), the stepping motor (320) is installed above the frame body (310), the stepping motor (320) drives the screw-nut pair (340) to move through the synchronous pulley (330), a nut of the screw-nut pair (340) is fixedly connected with the linear sliding rail (360) through the connecting plate (350), the screw-nut pair (340) drives the linear sliding rail (360) to move back and forth, two fixed linear sliding blocks (370) are placed on the linear sliding rail (360), and the side pushing plate (380) is placed at the front end of the linear sliding rail (360), for pushing and positioning the glass.

7. The grasping and stacking system for photovoltaic glass deep processing is characterized in that the edge wheel device (400) comprises a positioning frame (410), a positioning mounting plate (420) and a first positioning wheel (430), the positioning mounting plate (420) is fixed on the positioning frame (410), a plurality of positioning holes are formed in the positioning mounting plate (420), and the first positioning wheel (430) is fixed in the positioning holes.

8. The grasping and stacking system for photovoltaic glass deep processing as claimed in claim 7, wherein the mounting surface of the positioning hole is at an angle with the horizontal plane, and the angle is adjustable.

9. The grasping and stacking system for photovoltaic glass deep processing as claimed in claim 7, wherein the first positioning wheel (430) is externally wrapped with nitrile rubber.

10. The grasping and stacking system for photovoltaic glass deep processing as claimed in claim 1, wherein the turning device (500) comprises a base (510), a servo driving motor (520), a rotating shaft (530), an expansion sleeve (540), a turning table (550) and a limiting device (560), the servo driving motor (520) is arranged on the base (510), the rotating shaft (530) is connected with the servo driving motor (520), the rotating shaft (530) transversely penetrates through the turning table (550), the turning table (550) is connected with the rotating shaft (530) through the expansion sleeve (540), the limiting device (560) is fixed on the rotating shaft (530) and used for ensuring the safety of the system operation, and the turning device (500) realizes the angle turning through the servo driving motor (520).

11. The grasping and stacking system for photovoltaic glass deep processing as claimed in claim 10, wherein the flipping table (550) comprises a driving plate (551), a flipping table frame (552), a traceless universal wheel (553) and an edge-abutting wheel (554), the flipping table frame (552) is connected with the rotating shaft (530) through an expansion sleeve (540), the flipping table frame (552) is provided with the traceless universal wheel (553) and the edge-abutting wheel (554), and the driving plate (551) is connected with the flipping table frame (552).

12. The grasping and stacking system for photovoltaic glass deep processing is characterized in that the manipulator (600) comprises an air cylinder (610), a second positioning wheel (620) and a suction cup assembly (630), the second positioning wheel (620) is installed at the end of an extending rod of the air cylinder (610), the suction cup assembly (630) is installed on the air cylinder (610), and an edge leaning wheel (554) is installed at the end of a piston rod of the air cylinder (610).

13. The grasping and stacking system for photovoltaic glass deep processing as claimed in claim 10, wherein the turning angle of the turning device (500) is 0 ° to 120 °.