CN113460696B - Automatic feeding and discharging equipment for glass cover plate - Google Patents
Automatic feeding and discharging equipment for glass cover plate Download PDFInfo
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- CN113460696B CN113460696B CN202110899163.8A CN202110899163A CN113460696B CN 113460696 B CN113460696 B CN 113460696B CN 202110899163 A CN202110899163 A CN 202110899163A CN 113460696 B CN113460696 B CN 113460696B
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- 239000011521 glass Substances 0.000 title claims abstract description 115
- 238000007599 discharging Methods 0.000 title claims abstract description 10
- 125000006850 spacer group Chemical group 0.000 claims abstract description 104
- 230000007246 mechanism Effects 0.000 claims description 109
- 238000012546 transfer Methods 0.000 claims description 63
- 239000000463 material Substances 0.000 claims description 26
- 238000003860 storage Methods 0.000 claims description 24
- 210000005056 cell body Anatomy 0.000 claims description 20
- 238000012360 testing method Methods 0.000 claims description 15
- 238000013519 translation Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000000007 visual effect Effects 0.000 description 15
- 238000000034 method Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000009713 electroplating Methods 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000000151 deposition Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000007723 transport mechanism Effects 0.000 description 1
Images
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
- B65G47/915—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rotary movements only
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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
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0233—Position of the article
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses automatic feeding and discharging equipment for a glass cover plate, which comprises a cover plate feeding machine, a spacer feeding machine, a jig plate feeding machine, a cover plate taking and placing mechanical arm, a cover plate positioning platform and a first vision image capturing device, wherein the cover plate positioning platform and the first vision image capturing device are arranged at a position between the cover plate feeding machine and the cover plate taking and placing mechanical arm, the jig plate feeding machine is used for conveying the jig plate to the position below the cover plate taking and placing mechanical arm, the cover plate feeding machine is used for taking the glass cover plate to the position of the cover plate positioning platform for positioning, the cover plate taking and placing mechanical arm is used for taking the glass cover plate positioned by the cover plate positioning platform into a groove body structure of the jig plate, the spacer feeding machine comprises a spacer taking mechanical arm, the spacer taking mechanical arm is used for taking a spacer into the glass cover plate positioned in the groove body structure, and a second vision image capturing device is arranged at the output end of the spacer taking mechanical arm. The automatic feeding and discharging equipment for the glass cover plate has the advantage of high production automation degree.
Description
Technical Field
The invention relates to the field of mobile phone accessories, in particular to automatic glass cover plate feeding equipment.
Background
At present, the strength of the shooting performance of the mobile phone greatly influences important factors whether a consumer purchases a certain type of mobile phone. In order to pursue the sense of realism and the effect of a captured image, it is necessary to eliminate various factors that may affect the image capturing quality in addition to the improvement of the optical lens. In order to eliminate the influence of infrared light on CCD/CMOS imaging, an infrared cut filter film is required to be arranged on a glass cover plate at present. In order to improve the processing efficiency, a plurality of glass cover plates are currently stacked together and put into a jig. In order to avoid mutual interference between the glass cover plates during electroplating, the glass cover plates need to be separated by a spacer. After the jig is placed in the electroplating station, the plurality of glass cover plates on the jig can be simultaneously electroplated with the infrared cut-off light filtering film. However, at present, the glass cover plate is still mainly arranged on the jig plate by hands, the output of the jig plate also depends on the hands, errors are easy to occur, and the production efficiency is low.
Therefore, there is a need for an automatic loading and unloading apparatus for glass cover plate with high production automation to overcome the above-mentioned drawbacks.
Disclosure of Invention
The invention aims to provide automatic feeding and discharging equipment for a glass cover plate, which has high production automation degree.
In order to achieve the purpose, the automatic loading and unloading equipment for the glass cover plate comprises a cover plate loading machine, a spacer loading machine, a jig plate loading machine, a cover plate taking and placing manipulator, a cover plate positioning platform and a first vision image capturing device, wherein the cover plate loading machine, the spacer loading machine and the jig plate loading machine jointly surround the cover plate taking and placing manipulator, the cover plate positioning platform and the first vision image capturing device are installed at a position between the cover plate loading machine and the cover plate taking and placing manipulator, the jig plate loading machine is used for conveying a jig plate to the lower part of the cover plate taking and placing manipulator, the cover plate loading machine is used for taking a glass cover plate to position the cover plate positioning platform, the cover plate taking and placing manipulator is used for taking the glass cover plate positioned by the cover plate positioning platform into a groove body structure of the jig plate, the spacer loading machine comprises a spacer taking manipulator, the spacer taking manipulator is used for taking the spacer into the glass cover plate positioned in the groove body structure, and the output end of the spacer taking manipulator is provided with a second vision image capturing device; when the cover plate taking and placing mechanical arm is used for taking out the glass cover plate positioned by the cover plate positioning platform to the top of the first vision image capturing device, the first vision image capturing device carries out contour positioning on the glass cover plate, the spacer material taking mechanical arm drives the second vision image capturing device to move to the top of the jig plate, the second vision image capturing device carries out marginal positioning on the groove body structure of the jig plate, after deviation rectification, the cover plate taking and placing mechanical arm places the glass cover plate into the groove body structure of the jig plate, and then the spacer material taking mechanical arm places the spacer on the glass cover plate located in the groove body structure.
Preferably, the cover plate feeding machine comprises a tray disc conveying line and a cover plate taking manipulator, the tray disc conveying line is used for conveying tray discs, the cover plate taking manipulator is installed above the tray disc conveying line, and the cover plate taking manipulator is used for grabbing glass cover plates on the tray discs one by one onto the cover plate positioning platform.
Preferably, the apron material loading machine still includes test strip transfer chain and apron problem transfer chain, the test strip transfer chain with the apron problem transfer chain respectively install in the side of tray dish transfer chain, test strip transfer chain, apron location platform, first vision are got for instance device and apron problem transfer chain are along the direction of delivery of tray dish transfer chain is arranged and is arranged, the apron is got and is put the glass apron that the cell body structure can not be accurately put into and is delivered to apron problem transfer chain output.
Preferably, the upper plate loading machine of the jig plate comprises a plate frame lifting mechanism, a lower plate transferring mechanism and an upper layer transferring mechanism, wherein the upper layer transferring mechanism is arranged above the lower layer transferring mechanism, the plate frame lifting mechanism is used for lifting or descending a jig plate placing frame used for bearing the jig plate, the upper layer transferring mechanism and the lower layer transferring mechanism are in butt joint with one side of the upper portion of the plate frame lifting mechanism, the upper layer transferring mechanism and the lower layer transferring mechanism are opposite to each other, the jig plate placing frame at least comprises a first position extending into the jig plate placing frame and a second position located below the cover plate taking and placing manipulator, and the upper layer transferring mechanism and the lower layer transferring mechanism drive the jig plate to move to and fro between the first position and the second position.
Preferably, the output ends of the upper layer transfer mechanism and the lower layer transfer mechanism are respectively provided with a jig plate positioning area for positioning a jig plate, the upper layer transfer mechanism and the lower layer transfer mechanism are respectively provided with a positioning device, and the positioning device positions the jig plate in a clamping manner when the upper layer transfer mechanism or the lower layer transfer mechanism where the positioning device is located at the second position.
Preferably, grillage elevating system including bear frame, lift drive and be used for bearing the plummer of tool board rack, lift drive install in bear the frame, the plummer install in lift drive's output, the plummer be about slide install in bear the frame, lift drive orders about the plummer slides from top to bottom.
Preferably, the jig plate loading machine further comprises a plate frame trolley for carrying the jig plate placing frame, and the plate frame trolley sends the jig plate placing frame into or pulls out of the plate frame lifting mechanism.
Preferably, spacer chip feeder is still including depositing clamping and clamping lifting drive mechanism, deposit the clamping install in clamping lifting drive mechanism's output, clamping lifting drive mechanism orders about deposit the clamping up-and-down motion, spacer material taking manipulator install in deposit directly over the clamping, spacer material taking manipulator is used for snatching spacer in the deposit clamping is put down on putting into the glass apron in the cell body structure.
Preferably, the output end of the spacer taking manipulator is provided with a first rotary driver, and the output end of the first rotary driver is provided with a first vacuum suction plate.
Preferably, the spacer feeder further comprises a clamp conveying mechanism, the clamp conveying mechanism is mounted at the output end of the clamp lifting driving mechanism, the clamp lifting driving mechanism drives the clamp conveying mechanism to move up and down, the storage clamp is mounted at the output end of the clamp conveying mechanism, and the clamp conveying mechanism drives the storage clamp to move close to or far away from the spacer taking manipulator in a translation mode.
Compared with the prior art, the automatic loading and unloading equipment for the glass cover plate comprises a cover plate loading machine, a spacer loading machine, a jig plate loading machine, a cover plate taking and placing mechanical arm, a cover plate positioning platform and a first visual image capturing device. Apron material loading machine, spacer material loading and tool board are that to surround the apron jointly and get and put the manipulator and arrange, and such arrangement lets the automatic unloading equipment of going up of glass apron structure compacter reasonable, optimizes the material loading route. The cover plate taking and placing manipulator is surrounded, and the cover plate taking and placing manipulator is approximately positioned in the center of the area of the cover plate feeding machine, the spacer feeding machine and the jig plate feeding machine. The cover plate positioning platform and the first visual image capturing device are arranged at a position between the cover plate feeding machine and the cover plate taking and placing manipulator. The plate feeding machine on the jig plate is used for conveying the jig plate to the lower part of the cover plate taking and placing manipulator. The cover plate feeding machine is used for taking the glass cover plate to the cover plate positioning platform for positioning. The cover plate taking and placing mechanical arm is used for taking the glass cover plate positioned by the cover plate positioning platform out of the groove body structure of the jig plate. Spacer material loading machine includes spacer material taking manipulator, and spacer material taking manipulator is used for getting the spacer and puts into on the glass apron that is located the cell body structure. The output end of the spacer material taking mechanical arm is provided with a second visual image capturing device. When the cover plate taking and placing manipulator is used for taking out the glass cover plate positioned by the cover plate positioning platform to the position above the first visual image capturing device, the first visual image capturing device carries out contour positioning on the glass cover plate, and therefore the contour position of the glass cover plate is determined. Spacer material taking manipulator orders about second vision and gets device and remove to tool board top, and the second vision is got the device and is carried out marginal location to the cell body structure of tool board to confirm the marginal position of cell body structure, at this moment, the profile boundary of glass apron and the position of cell body structure have all been confirmed. Get the cell body structure that the manipulator put into the tool board with the glass apron through the back shroud of rectifying in, the spacer is got the material manipulator and is put the spacer on being located the glass apron of cell body structure to can put into the cell body structure with the glass apron accuracy, be difficult for damaging the glass apron moreover, because the second vision is got for instance the device and has carried out marginal location to the cell body structure, make the spacer get the material manipulator and can put into the glass apron of putting into the cell body structure with the spacer accuracy on. Above operation process is full automatic, does not need artifical the participation, can accurately put into the cell body structure with glass apron fast moreover, with the spacer put glass apron on, reduce the operation error rate and improve machining efficiency.
Drawings
FIG. 1 is a schematic perspective view of an automatic loading and unloading apparatus for a glass cover plate according to the present invention.
Fig. 2 is a schematic perspective view of the automatic glass cover plate loading and unloading apparatus shown in fig. 1 at another angle.
Fig. 3 is a schematic perspective view of the automatic glass cover plate feeding and discharging apparatus shown in fig. 1 after the tray conveying line and the test piece conveying line are hidden.
Fig. 4 is a schematic perspective view of the automatic glass cover plate feeding and discharging apparatus shown in fig. 1 after hiding a jig plate feeding machine, and a cover plate taking and placing manipulator.
Fig. 5 is an enlarged schematic view of the structure at a in fig. 3.
Fig. 6 is a schematic perspective view of a plate loading machine of a jig plate.
Fig. 7 is a schematic perspective view of the jig board loading machine shown in fig. 6 after the jig board placing frame and the jig board are hidden.
Fig. 8 is a schematic perspective view of the upper transfer mechanism of fig. 7 after being further hidden.
Fig. 9 is a perspective view of a spacer feeder.
Fig. 10 is an enlarged schematic view of the structure at B in fig. 9.
Fig. 11 is a perspective view of the spacer feeder of fig. 9 at another angle.
Fig. 12 is a schematic perspective view of a jig plate.
Detailed Description
In order to explain technical contents and structural features of the present invention in detail, the following description is made with reference to the embodiments and the accompanying drawings.
As shown in fig. 1 to 4 and 12, the automatic loading and unloading apparatus 100 for glass cover plates of the present invention includes a cover plate feeder 10, a spacer feeder 20, a jig plate loader 30, a cover plate pick-and-place robot 40, a cover plate positioning platform 50 and a first vision image capturing device 60. The cover plate feeding machine 10, the spacer feeding machine 20 and the jig plate feeding machine 30 are arranged to jointly surround the cover plate taking and placing manipulator 40, so that the structure of the automatic glass cover plate feeding and discharging equipment 100 is more compact and reasonable, and the feeding path is optimized. The cover pick and place robot 40 is enclosed in the sense that the cover pick and place robot 40 is located approximately in the center of the area of the cover feeder 10, the spacer feeder 20 and the jig plate feeder 30. The cover positioning platform 50 and the first visual image capturing device 60 are installed at a position between the cover loader 10 and the cover pick-and-place robot 40. The jig plate loading machine 30 is used for conveying the jig plate 200 to the lower side of the cover plate taking and placing manipulator 40. The cover loader 10 is used to take the glass cover 300 to the cover positioning platform 50 for positioning. The cover plate taking and placing manipulator 40 is used for taking the glass cover plate 300 positioned by the cover plate positioning platform 50 out of the groove body structure 210 of the jig plate 200. Spacer feeder 20 includes spacer reclaiming manipulator 21, and spacer reclaiming manipulator 21 is used for getting spacer 400 and puts into on being located the glass apron 300 of cell body structure 210. The output end of the spacer material taking manipulator 21 is provided with a second visual image capturing device 22. During processing, the cover taking and placing manipulator 40 takes out the glass cover 300 positioned by the cover positioning platform 50 to a position above the first visual image capturing device 60, and the first visual image capturing device 60 performs contour positioning on the glass cover 300, so as to determine the contour position of the glass cover 300. The spacer material taking manipulator 21 drives the second visual image capturing device 22 to move above the jig plate 200, and the second visual image capturing device 22 performs marginal positioning on the slot body structure 210 of the jig plate 200, so as to determine the marginal position of the slot body structure 210, where the outline boundary of the glass cover plate 300 and the position of the slot body structure 210 are determined. In the cell body structure 210 of tool board 200 was put into with glass apron 300 to back cover plate picking and placing manipulator 40 through rectifying, spacer material taking manipulator 21 puts spacer 400 on the glass apron 300 that is located cell body structure 210 to can put into cell body structure 210 with glass apron 300 accuracy, and be difficult for haring glass apron 300, because second vision is got for instance device 22 and has carried out marginal location to cell body structure 210, make spacer material taking manipulator 21 can put into accurately spacer 400 on putting into the glass apron 300 of cell body structure 210. Above operation process is full automatic, does not need artifical the participation, can accurately put into cell body structure 210 with glass apron 300 fast moreover, puts glass apron 300 with spacer 400 on, reduces the operation error rate and improves machining efficiency. Preferably, the first visual image capturing device 60 and/or the second visual image capturing device 22 can be used as a camera, a video recorder, or other photography recording devices according to actual needs. The first visual image capturing device 60 photographs four sides of the bottom surface of the glass cover plate 300 to locate the outline boundary. The second visual image capturing device 22 photographs the top side and the left and right sides of the trough structure 210, and locates the boundary of the trough structure 210, but is not limited thereto. It should be noted that the deviation rectifying operation is performed by a control module, such as a chip, a PLC, or other control modules. The deviation correction means that the glass cover 300 is aligned and placed in the slot structure 210 by calculation. For example, the lid picking and placing robot 40 is a multi-axis robot, and the spacer picking robot 21 is a three-axis robot, but not limited thereto. The cover plate positioning platform 50 is used for positioning the glass cover plate 300, so that the cover plate taking and placing mechanical arm 40 can conveniently and accurately grab the glass cover plate 300. Preferably, the cover positioning platform 50 positions the peripheral side of the glass cover 300, but is not limited thereto.
As shown in fig. 1 to 4, the cap feeder 10 includes a tray pallet transfer line 11 and a cap removing robot 12. the tray disc conveying line 11 is used for conveying tray discs 500, the cover plate taking manipulator 12 is installed above the tray disc conveying line 11, and the cover plate taking manipulator 12 is used for grabbing the glass cover plates 300 on the tray discs 500 one by one onto the cover plate positioning platform 50. The cover plate feeder 10 has a simple structure, and facilitates the control of feeding the glass cover plate 300 from the tray 500 to the cover plate positioning platform 50. Preferably, the cover plate feeder 10 further includes a test strip feed line 13 and a cover plate problem feed line 14. The test piece conveying line 13 and the cover plate problem conveying line 14 are respectively installed at the side of the tray disc conveying line 11, the test piece conveying line 13, the cover plate positioning platform 50, the first vision image capturing device 60 and the cover plate problem conveying line 14 are arranged along the conveying direction of the tray disc conveying line 11, and the structure of the automatic feeding and discharging equipment 100 for the glass cover plate is more compact and reasonable due to the arrangement mode.
The test piece conveying line 13 is used for testing the machine. The using method comprises the steps of placing a plurality of glass cover plates 300 on the test piece conveying line 13, grabbing the glass cover plates 300 at the tail ends of the test piece conveying line 13 to the cover plate positioning platform 50 by using the cover plate taking manipulator 12, observing whether the automatic loading and unloading equipment 100 for the glass cover plates normally operates or not, and avoiding directly starting the tray disc conveying line 11 test machine. The cover plate taking and placing mechanical arm 40 conveys the glass cover plates 300 which cannot be accurately placed into the trough body structure 210 to the cover plate problem conveying line 14 for outputting, so that the glass cover plates 300 under the NG condition can be conveniently collected.
As shown in fig. 1, 2, 3, 6, 7 and 8, the jig plate loading/unloading device 30 includes a plate frame lifting/lowering mechanism 31, a lower layer transfer mechanism 32, and an upper layer transfer mechanism 33. The upper layer transfer mechanism 33 is disposed above the lower layer transfer mechanism 32, and the plate frame lifting mechanism 31 is used for lifting or lowering the jig plate placing frame 600 for carrying the jig plates 200. The upper layer transfer mechanism 33 and the lower layer transfer mechanism 32 are butted on one side of the upper part of the plate frame lifting mechanism 31, the upper layer transfer mechanism 33 and the lower layer transfer mechanism 32 at least have a first position extending into the jig plate placing rack 600 and a second position located below the cover plate taking and placing manipulator 40 relative to the jig plate placing rack 600, and the upper layer transfer mechanism 33 and the lower layer transfer mechanism 32 drive the jig plate 200 to move to and from the first position and the second position. Because the upper layer transferring mechanism 33 and the lower layer transferring mechanism 32 are arranged, the upper layer transferring mechanism 33 and the lower layer transferring mechanism 32 can be used together for taking the plate at the jig plate placing frame 600, when the jig plate 200 carried by the upper layer transferring mechanism 33 is full of the glass cover plate 300 and the spacer 400, and the jig plate 200 is sent back to the jig plate placing frame 600, the glass cover plate 300 and the spacer 400 can be continuously and immediately carried on the lower layer transferring mechanism 32, the time of stopping and waiting is saved, and the processing efficiency is improved.
Specifically, the output ends of the upper layer transfer mechanism 33 and the lower layer transfer mechanism 32 are respectively provided with a jig plate positioning area 34 for positioning the jig plate 200. The upper layer transfer mechanism 33 and the lower layer transfer mechanism 32 are further provided with a positioning device 35, and the positioning device 35 positions the jig plate 200 in a clamping manner when the upper layer transfer mechanism 33 or the lower layer transfer mechanism 32 where the positioning device 35 is located is at the second position, so as to realize stable positioning of the jig plate 200, and accurately place the glass cover plate 300 into the groove body structure 210 of the jig plate 200.
As shown in fig. 6 to 8, the rack lifting mechanism 31 includes a carrier 311, a lifting drive device 312, and a carrier 313 for holding the jig board placement rack 600. The lifting driving device 312 is installed on the supporting frame 311, the supporting platform 313 is installed at the output end of the lifting driving device 312, the supporting platform 313 is installed on the supporting frame 311 in a vertically sliding manner, and the lifting driving device 312 drives the supporting platform 313 to slide vertically. The lifting driving device 312 may be an existing driving device, and thus, will not be described herein. Grillage elevating system 31's simple structure conveniently controls reciprocating of tool board rack 600. The jig plate feeding machine 30 further includes a plate frame cart 36 for carrying the jig plate placing frame 600. The plate frame cart 36 feeds the jig plate placing frame 600 into or pulls out the plate frame lifting mechanism 31, and the jig plate placing frame 600 is convenient to transport by means of the plate frame cart 36.
As shown in fig. 1, 2, 3, 9, 10, and 11, the spacer feeder 20 further includes a storage clip 23 and a clip lifting/lowering drive mechanism 24. The storage clips 23 are mounted on the output end of the clip lifting drive mechanism 24, and the clip lifting drive mechanism 24 drives the storage clips 23 to move up and down. The spacer taking manipulator 21 is used for grabbing the spacers 400 in the storage clips 23 and putting down the spacers onto the glass cover plate 300 which is already put into the groove body structure 210. The storage clips 23 are used to store stacked spacers 400, and when the uppermost spacer 400 is removed, the clip lift drive mechanism 24 raises the storage clips 23 by approximately the height of one spacer 400, so that the spacer take-out robot 21 can remove the spacers 400 at the same height. Further, the output end of the spacer reclaiming robot 21 is mounted with a first rotary drive 25, and the output end of the first rotary drive 25 is mounted with a first vacuum suction plate 26. Because the jig plate 200 is provided with the plurality of groove body structures 210, the glass cover plate 300 is stacked in the groove body structures 210, and correspondingly, the spacers 400 are also stacked, at this time, the spacers 400 are not horizontally placed any more, but obliquely placed, and in order to more stably place the spacers 400, the first vacuum suction plate 26 is driven to be inclined by the first rotary driver 25, so that the spacers 400 are placed on the glass cover plate 300 after being inclined, and the displacement and the shaking caused when the spacers 400 are placed are avoided.
As shown in fig. 1, 2, 3 and 5, the output end of the cover picking and placing robot 40 is mounted with a second rotary driver 41, and the output end of the second rotary driver 41 is mounted with a second vacuum suction plate 42. Before the glass cover plate 300 is ready to be placed into the groove structure 210, the second rotary driver 41 is used for driving the second vacuum suction plate 42 to incline, so that the glass cover plate 300 is placed into the groove structure 210 after being inclined, and displacement and shaking during placement of the glass cover plate 300 are avoided. For example, the first and second rotary drivers 25 and 41 are motors, but are not limited thereto.
As shown in fig. 9 and 11, the spacer feeder 20 further includes a clip conveying mechanism 27, the clip conveying mechanism 27 is mounted at an output end of the clip lifting/lowering driving mechanism 24, and the clip lifting/lowering driving mechanism 24 drives the clip conveying mechanism 27 to move up and down, thereby driving the storage clips 23 to move up and down. The storage clips 23 are mounted to the output of a clip delivery mechanism 27, and the clip delivery mechanism 27 actuates the storage clips 23 to move in a translational motion toward and away from the spacer reclaiming robot 21. After taking out the spacer 400 in the storage clamp 23, the clamp conveying mechanism 27 drives the storage clamp 23 to move away from the spacer material taking manipulator 21, so that people can conveniently feed the spacer 400 into the storage clamp 23. For example, the clip conveying mechanism 27 is an air cylinder, and the clip lifting/lowering driving mechanism 24 is a timing belt driving device, but not limited thereto.
The working principle of the automatic glass cover plate loading and unloading device 100 of the present invention is explained as follows:
the tray transfer line 11 transfers the tray 500 to a position below the cap removing robot 12, and the cap removing robot 12 sucks the glass cap 300 on the tray 500 to the cap positioning stage 50. The jig plate placing frame 600 is sent into the plate frame lifting mechanism 31 by using the plate frame cart 36, the lifting driving device 312 drives the bearing table 313 to slide upwards, and the bearing table 313 bears the jig plate placing frame 600 and drives the jig plate placing frame 600 to slide upwards. After the jig plate placing frame 600 moves to a certain position, the upper layer transfer mechanism 33 moves to the first position, a jig plate 200 falls into the jig plate positioning area 34, and then the upper layer transfer mechanism 33 drives the jig plate 200 to move to the second position to wait for loading. Simultaneously, the lower layer transferring mechanism 32 moves to the first position, another jig board 200 falls into the jig board positioning area 34, and the lower layer transferring mechanism 32 drives the jig board 200 to move to the second position to wait for loading. In this process, the lifting driving device 312 drives the supporting platform 313 to move up and down to match the falling plate of the jig plate 200.
A stack of spacers 400 is placed into the storage clips 23 and the clip transport mechanism 27 drives the storage clips 23 in a translational motion adjacent the spacer reclaiming robot 21. The cover plate taking and placing manipulator 40 takes down the glass cover plate 300 positioned on the cover plate positioning platform 50, and then the taken-down glass cover plate 300 is placed above the first vision image capturing device 60 for contour positioning, and the spacer taking manipulator 21 drives the second vision image capturing device 22 to move above the jig plate 200 carried by the upper layer transfer mechanism 33, so that the second vision image capturing device 22 performs marginal positioning on the groove structure 210 of the jig plate 200. After the deviation correction, the cover plate taking and placing manipulator 40 drives the second rotary driver 41 to move above the trough structure 210, the second rotary driver 41 drives the second vacuum suction plate 42 to incline, and then the second vacuum suction plate 42 accurately places the sucked glass cover plate 300 into the trough structure 210.
The spacer taking manipulator 21 drives the first rotary driver 25 to move to the storage clamp 23, the first vacuum suction plate 26 sucks a spacer 400, the rear spacer taking manipulator 21 drives the first rotary driver 25 to move above the glass cover plate 300 placed in the groove body structure 210, the first rotary driver 25 drives the first vacuum suction plate 26 to incline, and the first vacuum suction plate 26 puts the sucked spacer 400 on the glass cover plate 300. By repeating the above operations, each jig plate 200 on the jig plate placement frame 600 can be filled with the glass cover plate 300 and the spacer 400.
After all the jig plates 200 on the jig plate placement frame 600 are filled with the glass cover plate 300 and the spacers 400, the lifting drive device 312 drives the bearing table 313 to slide downwards, the jig plate placement frame 600 is placed back to the plate frame cart 36, and then the plate frame cart 36 is pulled out.
The above disclosure is only a preferred embodiment of the present invention, and should not be taken as limiting the scope of the invention, so that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the invention.
Claims (10)
1. The utility model provides a unloading equipment in glass apron is automatic which characterized in that: the automatic glass taking and placing device comprises a cover plate feeding machine, a spacer feeding machine, a jig plate feeding machine, a cover plate taking and placing manipulator, a cover plate positioning platform and a first vision image capturing device, wherein the cover plate feeding machine, the spacer feeding machine and the jig plate feeding machine jointly surround the cover plate taking and placing manipulator, the cover plate positioning platform and the first vision image capturing device are installed at a position between the cover plate feeding machine and the cover plate taking and placing manipulator, the jig plate feeding machine is used for conveying jig plates to the lower portion of the cover plate taking and placing manipulator, the cover plate feeding machine is used for taking glass cover plates to be positioned at the cover plate positioning platform, the cover plate taking and placing manipulator is used for taking the glass cover plates positioned by the cover plate positioning platform out of the cover plate into a groove body structure of the jig plates, the spacer feeding machine comprises a material taking spacer manipulator, the spacer taking manipulator is used for taking the spacers into the glass cover plates positioned at the groove body structure, and a second vision image capturing device is installed at the output end of the spacer taking manipulator; when the cover plate taking and placing mechanical arm is used for taking out the glass cover plate positioned by the cover plate positioning platform to the top of the first vision image capturing device, the first vision image capturing device carries out contour positioning on the glass cover plate, the spacer material taking mechanical arm drives the second vision image capturing device to move to the top of the jig plate, the second vision image capturing device carries out marginal positioning on the groove body structure of the jig plate, after deviation rectification, the cover plate taking and placing mechanical arm places the glass cover plate into the groove body structure of the jig plate, and then the spacer material taking mechanical arm places the spacer on the glass cover plate located in the groove body structure.
2. The automatic loading and unloading device for glass cover plates as claimed in claim 1, wherein the cover plate loading machine comprises a tray conveying line and a cover plate taking manipulator, the tray conveying line is used for conveying tray plates, the cover plate taking manipulator is installed above the tray conveying line, and the cover plate taking manipulator is used for grabbing the glass cover plates on the tray plates one by one onto the cover plate positioning platform.
3. The automatic unloading equipment of going up of glass apron according to claim 2, characterized in that, the apron material loading machine still includes test strip transfer chain and apron problem transfer chain, the test strip transfer chain with the apron problem transfer chain respectively install in the side of tray dish transfer chain, test strip transfer chain, apron locating platform, first vision are got for instance device and apron problem transfer chain and are followed the direction of delivery of tray dish transfer chain arranges and arranges, the apron is got and is put the glass apron that the cell body structure can not accurately be put into and is sent to apron problem transfer chain output.
4. The automatic loading and unloading device for glass cover plates as claimed in claim 3, wherein the upper trigger of the jig plate comprises a plate frame lifting mechanism, a lower transfer mechanism and an upper transfer mechanism, the upper transfer mechanism is disposed above the lower transfer mechanism, the plate frame lifting mechanism is used for lifting or lowering a jig plate placing frame for carrying the jig plate, the upper transfer mechanism and the lower transfer mechanism are connected to one side of the upper portion of the plate frame lifting mechanism in an abutting manner, the upper transfer mechanism and the lower transfer mechanism at least have a first position extending into the jig plate placing frame and a second position located below the cover plate taking and placing manipulator relative to the jig plate placing frame, and the upper transfer mechanism and the lower transfer mechanism drive the jig plate to and fro between the first position and the second position.
5. The automatic loading and unloading apparatus for glass cover plates as claimed in claim 4, wherein the output ends of the upper layer transfer mechanism and the lower layer transfer mechanism are respectively provided with a jig plate positioning region for positioning a jig plate, and the upper layer transfer mechanism and the lower layer transfer mechanism are respectively provided with a positioning device for positioning the jig plate by clamping when the upper layer transfer mechanism or the lower layer transfer mechanism is at the second position.
6. The automatic loading and unloading device for glass cover plates as claimed in claim 4, wherein the plate frame lifting mechanism comprises a bearing frame, a lifting driving device and a bearing platform for bearing the jig plate placing frame, the lifting driving device is mounted on the bearing frame, the bearing platform is mounted at the output end of the lifting driving device, the bearing platform is vertically slidably mounted on the bearing frame, and the lifting driving device drives the bearing platform to vertically slide.
7. The automatic loading and unloading device for glass cover plates according to claim 4, wherein the jig plate loading machine further comprises a plate frame trolley for carrying jig plate placing frames, and the plate frame trolley is used for feeding or pulling the jig plate placing frames into or out of the plate frame lifting mechanism.
8. The automatic feeding and discharging device for the glass cover plates as claimed in claim 1, wherein the spacer feeder further comprises a storage clamp and a clamp lifting driving mechanism, the storage clamp is mounted at the output end of the clamp lifting driving mechanism, the clamp lifting driving mechanism drives the storage clamp to move up and down, the spacer taking manipulator is mounted right above the storage clamp, and the spacer taking manipulator is used for grabbing spacers in the storage clamp and putting down the spacers on the glass cover plate which is placed in the groove body structure.
9. The automatic loading and unloading device for glass cover plates as claimed in claim 8, wherein a first rotary driver is installed at the output end of the spacer material taking manipulator, and a first vacuum suction plate is installed at the output end of the first rotary driver.
10. The automatic glass cover plate loading and unloading device according to claim 8, wherein the spacer feeder further comprises a clamp conveying mechanism, the clamp conveying mechanism is mounted at an output end of the clamp lifting driving mechanism, the clamp lifting driving mechanism drives the clamp conveying mechanism to move up and down, the storage clamp is mounted at an output end of the clamp conveying mechanism, and the clamp conveying mechanism drives the storage clamp to move in a translation mode to be close to or far away from the spacer material taking manipulator.
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| CN202110899163.8A CN113460696B (en) | 2021-08-05 | 2021-08-05 | Automatic feeding and discharging equipment for glass cover plate |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110899163.8A CN113460696B (en) | 2021-08-05 | 2021-08-05 | Automatic feeding and discharging equipment for glass cover plate |
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| CN113460696A CN113460696A (en) | 2021-10-01 |
| CN113460696B true CN113460696B (en) | 2023-02-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110899163.8A Active CN113460696B (en) | 2021-08-05 | 2021-08-05 | Automatic feeding and discharging equipment for glass cover plate |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114988060A (en) * | 2022-06-30 | 2022-09-02 | 北京金晟达生物电子科技有限公司 | Herbage planting disc tower loading system |
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