CN115626333B

CN115626333B - Full-automatic feeding device of glass packing line

Info

Publication number: CN115626333B
Application number: CN202211645007.XA
Authority: CN
Inventors: 单晓义; 单泰宏; 王威; 陈大勇
Original assignee: Sichuan Hongda Hydraulic Machinery Manufacturing Co ltd
Current assignee: Sichuan Hongda Hydraulic Machinery Manufacturing Co ltd
Priority date: 2022-12-21
Filing date: 2022-12-21
Publication date: 2023-03-28
Anticipated expiration: 2042-12-21
Also published as: CN115626333A

Abstract

The invention relates to equipment for a glass production line, in particular to a full-automatic feeding device for a glass packing line. The automatic code reader is used for automatically scanning and reading the size of the glass stack; the glass stack centering device is used for transversely centering and positioning the glass stack on the conveying chain plate line, and the robot automatically stacks the packaging materials to the corresponding positions of the glass stack; the material fixing device is used for temporarily fixing the packaging materials stacked on the glass stack by the robot; conveying the glass stacks by a conveying chain plate line; the electric control system receives the size information of the glass stacks read by the automatic code reader, controls the glass stack centering device to enable the glass stacks to be transversely centered on the conveying chain plate line, controls the conveying chain plate line to run or stop, and controls the robot to automatically grab and stack the packaging materials to the corresponding positions of the glass stacks; and controlling the material fixing device to push the materials against the corresponding positions of the glass stacks. This application is automatic puts glass buttress relevant position with packing material sign indicating number, for follow-up glass packing ready, can improve packing efficiency simultaneously.

Description

Full-automatic feeding device of glass packing line

Technical Field

The invention relates to equipment for a glass production line, in particular to full-automatic feeding equipment used on an automatic glass packaging production line.

Background

And stacking the glass after the glass production and processing are finished, then adding packaging materials around the glass stack, and then carrying out the subsequent packaging process. At present, two packaging methods of photovoltaic glass tempered finished glass are generally available. A full-manual mode for packaging comprises the steps of punching a transverse plastic steel belt, a longitudinal plastic steel belt and a surrounding belt, and then manually winding a film. Another method, which adopts a semi-automatic mode, for example, patent CN206826976U discloses a transverse packing mechanism for photovoltaic glass. Regardless of the packing method, three common packing materials for glass packing are adopted: the wood corner protectors, the side vertical plates and the upper pressing plate are placed manually and then are matched with manual packaging or machine packaging to package the glass by the production line. The manual work is placed packing material speed slow, extravagant manpower, and different operation staff operational deviation in the packaging process, packing material are placed not accurately, lead to that the glass package after beating the plastic steel band is drawn force range deviation big, and some are big or small, and packing quality is poor.

At present, equipment for automatically placing packaging materials is urgently needed to replace manpower, save labor cost and improve efficiency. Meanwhile, packaging materials can be accurately placed through automatic equipment, and the packaging quality of the glass is improved.

Disclosure of Invention

The invention aims to provide a full-automatic feeding device for a glass packing line, which can replace manual work, and a robot automatically places packing materials on a glass stack to be packed, thereby saving labor cost and improving speed.

The technical scheme of the invention is as follows:

a full-automatic feeding device for glass packing wires comprises an automatic code reader, a glass stack centering device, a material fixing device, a robot, a conveying chain plate wire and an electric control system; the automatic code reader is used for automatically scanning codes and reading the specification and the size of the glass stack; the glass stack centering device is arranged on the conveying chain plate line and is used for transversely centering and positioning the glass stack on the conveying chain plate line; the two robots are respectively arranged at the two transverse sides of the conveying chain plate line and used for automatically grabbing different types and specifications of packaging materials according to the size of the glass stacks and stacking the packaging materials on corresponding positions of the glass stacks; the two sets of material fixing devices are respectively arranged at the two transverse sides of the conveying chain plate line and used for temporarily fixing the packaging materials stacked on the glass stacks by the robot; the conveying chain plate line is used for conveying glass stacks; the electric control system receives the specification and size information of the glass stacks read by the automatic code reader, controls the glass stack centering device to enable the glass stacks to be transversely centered on the conveying chain plate line, controls the conveying chain plate line to run or stop, gives a signal to the robot to enable the robot to automatically grab the packaging materials and stack the packaging materials at corresponding positions of the glass stacks, and controls the material fixing device to enable the packaging materials to be abutted against the corresponding positions of the glass stacks.

The invention has the beneficial effects that:

1. according to the full-automatic feeding device, after the glass stacks are placed on the conveying chain plate line, the automatic code reader automatically reads the specification and the size of the glass stacks, and the robot automatically grabs the wood corner protectors, the side vertical plates and the upper pressing plates with the required specifications according to the specific size of the glass stacks and then automatically places the wood corner protectors, the side vertical plates and the upper pressing plates on the four corners, the sides and the upper surfaces of the glass stacks. Can replace the manual work to place packing material work, practice thrift labour cost. And can realize accomplishing the packing material of four kinds of different specification glass stacks and snatching and placing automatically on same chain scraper conveyor line, for follow-up glass packing makes ready, improves automatic packing efficiency.

2. The full-automatic feeding device firstly obtains the size specification data of the glass by the code reader, and then controls the displacement of the hydraulic push plate of the glass stack centering device by the PLC (controller), so that the glass stack is accurately stopped at the transversely centered position on the conveying chain plate line.

3. According to the code reader identification information acquired by the PLC, the robot in the embodiment of the invention realizes the corresponding automatic grabbing and stacking functions of three packaging materials of four or less wood corner protectors, side vertical plates and upper pressing plates with different specifications.

4. The robot of the full-automatic feeding device is provided with a vision detection camera and a laser range finder to realize the function of accurately grabbing the packaging materials. Meanwhile, the sucker is fixed on the micro-motion cylinder, and the sucker and the micro-motion cylinder are matched to realize accurate stacking of packaging materials. The bracket is provided with a proximity switch and a telescopic guide post, and the guide post is provided with a spring to realize the safety protection of the robot.

5. The glass stack centering device adopts a hydraulic centering mode, and has the advantages of high thrust of the hydraulic device, high control precision of a thrust stroke and low investment cost of the whole equipment. And after the tray moves between two parties and accomplishes, increased glass centering device on tray centering device's basis, can be manual correct the glass that slopes on the glass buttress again, prevent that glass from inclining one of four directions left, right, preceding, back, can't carry out the packing material of next process and place and the level packing.

Drawings

Fig. 1 is a schematic structural view of the full-automatic feeding device of the invention.

Fig. 2 is a schematic view of the robot stacking wood corner protector of the full-automatic feeding device.

Fig. 3 is a front view of a robot-grabbed wood corner protector of the full-automatic feeding device.

FIG. 4 is an enlarged view of the robot stacking wood corner protector of the full-automatic feeding device of the invention.

Fig. 5 is a schematic structural view of a robot of the full-automatic feeding device of the invention.

Fig. 6 is a schematic view of another angle structure of the robot of the full-automatic feeding device of the present invention.

Fig. 7 is a top view of the robot of the automatic loading device of the present invention.

FIG. 8 is a front view of a wood corner protector and a corner protector trolley of the full-automatic feeding device.

Fig. 9 is a side view of a wood corner protector and a corner protector trolley of the full-automatic feeding device.

Fig. 10 is a top view of the material fixing device of the fully automatic feeding device of the present invention.

Fig. 11 is a front view of a material fixing device of the full-automatic feeding device of the invention.

Fig. 12 is a partially enlarged schematic view of the material fixing device.

FIG. 13 is a top view of the glass gob centering device and the conveying chain plate of the fully automatic feeding device of the present invention.

FIG. 14 is a front view of the glass gob centering device and the conveying chain plate line of the fully automatic feeding device of the present invention.

FIG. 15 is a side view of the glass gob centering device and the conveyor chain of the fully automatic feeding device of the present invention.

FIG. 16 is a top view of the structure of the vertical plate, the pressure plate trolley, the upper pressure plate and the side vertical plate of the full-automatic feeding device of the present invention.

FIG. 17 is a structural front view of a vertical plate, a pressure plate trolley, an upper pressure plate and a side vertical plate of the full-automatic feeding device.

FIG. 18 is a structural side view of a vertical plate, a pressure plate trolley, an upper pressure plate and a side vertical plate of the full-automatic feeding device.

Description of the drawings: the directions of the views in the description of the drawings are front views in the directions indicated by the arrows in fig. 1, and side views on the left and right sides of the arrows.

Reference numbers in the figures:

1. an automatic code reader; 2. a glass stack centering device; 3. a material fixing device; 4. a robot; 5. a conveyor chain plate line; 6. packaging the materials; 7. a corner protecting trolley; 8. a vertical plate and a pressure plate trolley; 9. stacking glass; 10. a baling machine; 21. a gantry frame; 22. a tray centering device; 23. a hydraulic pump station; 24. a manual button; 25. a glass centering device; 201. channel steel; 211. a column; 212. a square tube frame; 213. a square steel plate; 221. a first hydraulic cylinder; 222. fixing the telescopic rod; 223. a first linear bearing; 224. a first steel plate; 225. pushing the plate; 226. a square through frame; 227. a nylon sheet; 231. a front steel plate; 233. a cylinder barrel; 234. a linear guide rail; 235. a slide rail block; 251. a second hydraulic cylinder; 252. a third hydraulic cylinder; 253. a lifting hydraulic cylinder; 301. pressing a groove; 302. a cylinder; 303. an air cylinder electromagnetic valve; 304. a first handle bolt; 305. a balancing pole; 306. a second linear bearing; 307. a vertical plate; 308. a front top plate; 309. a support plate; 310. a U-shaped connecting column; 311. fixing the rod; 350. a fixing plate; 312. a pin shaft; 313. a first base plate; 315. a U-shaped groove; 322. a first bolt; 325. a long hole; 401. connecting steel plates; 402. a guide post; 403. a third linear bearing; 404. a micro-motion cylinder; 405. a suction cup; 406. a support; 407. a sucker electromagnetic valve; 408. a micro-motion cylinder electromagnetic valve; 409. a visual inspection camera; 410. a laser range finder; 411. a spring; 412. a proximity switch; 601. wood corner protection; 602. a side vertical plate; 603. an upper pressure plate; 701. a chain cover; 702. a chain; 703. a sprocket; 704. a driven sprocket; 705. a tailgate; 706. a frame; 707. a front baffle; 708. a conveyor belt; 710. a bearing; 711. a trolley motor; 720. a driven roller; 721. a drive roll; 801. a side cover plate; 802. a trapezoidal plate; 803. a second base plate; 804. a side steel plate; 805. sizing block; 806. angle iron; 807. a gap screw; 808. a second handle bolt; 809. a traveling wheel; 810. a track; 6011. wood corner protectors I; 6012. a second wood corner protector; 6013. wood corner protectors III; 6014. wood corner protectors are four; 6021. a first side vertical plate; 6022. a second side vertical plate; 6023. a third side vertical plate; 6024. a side vertical plate IV; 6031. a first upper pressure plate; 6032. an upper pressure plate II; 6033. a third upper pressing plate; 6034. and a fourth upper pressure plate.

Detailed Description

Aiming at the problems that in the prior art, the work of placing the packing materials 6 before the glass stack 9 is packed is an operation step which needs to be finished manually, the labor capacity of personnel is large, and the glass packing quality is difficult to effectively guarantee, the invention provides the full-automatic feeding device of the glass packing line, and the full-automatic feeding device can be used for preparing for the subsequent glass packing.

The following are specific embodiments of the present invention, which will be further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.

As shown in figure 1, the full-automatic feeding device for the glass packaging line comprises an automatic code reader 1, a glass stack centering device 2, a material fixing device 3, a robot 4, an electric control system and a conveying chain plate line 5. The automatic code reader 1 is used for automatically scanning two-dimensional codes or bar codes posted on the side surfaces of the glass stacks 9 to acquire the specification and dimension information of the glass stacks 9. The automatic code reader 1 is usually installed at the front end or side of the foremost conveying chain plate line 5, and when a forklift or an AGV (automatic guided vehicle) puts a glass stack 9 on the conveying chain plate line 5, the automatic code reader 1 automatically scans a two-dimensional code or a bar code posted on the glass stack 9 to acquire corresponding glass size specification information. The automatic code reader 1 can be independently installed on a shelf which is fixed on the ground. The glass stack centering device 2 is arranged on the conveying chain plate line 5, the glass stack centering device 2 is realized in a hydraulic centering mode, the glass stack centering device 2 comprises a glass centering device 25 and a tray centering device 22, the tray centering device 22 is used for transversely centering and positioning glass stacks 9 on the conveying chain plate line 5 (namely, the centers of the glass stacks 9 are automatically placed on the longitudinal center line of the conveying chain plate line 5 through an electric control system), and each glass stack 9 needs to be centered when passing through the conveying chain plate line 5. The glass centering device 25 is used for vertically correcting the inclined glass on the glass stack 9 by manually controlling the hydraulic cylinder (the inclined glass is corrected by manually pressing a button on the gantry frame 21 by a person), the use frequency of the glass centering device 25 is low, and manual operation is usually adopted. The two robots 4 are respectively arranged at the two transverse sides of the conveying chain plate line 5 (the robots 4 are arranged at the left side and the right side of the advancing direction of the conveying chain plate line 5) and used for automatically grabbing different specifications and different types of packaging materials 6 and stacking the packaging materials to corresponding positions of glass according to the specification and the size of the glass stacks 9. Normally, the pack 9 is of different size and the size of the pack 6 is adjusted accordingly. The position at which the different packaging material 6 should be placed in the pack 9 will be described in detail later. The conveyor chain plate line 5 adopts the prior art structure and is used for conveying the glass stacks 9 and is controlled by an electric control system to stop or start. The two sets of material fixing devices 3 are respectively installed on the two transverse sides of the conveying chain plate line 5 (the material fixing devices 3 are arranged on the left side and the right side of the advancing direction of the conveying chain plate line 5) and used for temporarily fixing the packaging materials 6 (the wood corner protectors 601, the side vertical plates 602 and the upper pressing plates 603) which are grabbed and stacked on the glass stacks 9 by the robot 4. The electric control system receives the size specification information of the glass stacks 9 sent by the automatic code reader 1, controls each conveying chain plate line 5 to stop or run, controls the glass stack centering device 2 to act so that the glass stacks 9 are transversely centered on the conveying chain plate lines 5, and gives start-stop signals and grabbing signals to the robot 4 so that the robot 4 grabs the packaging materials 6 with the sizes matched with the sizes of the glass stacks 9; and the packaging materials 6 are stacked at the corresponding positions of the glass stacks 9, the material fixing devices 3 are controlled to act, so that the packaging materials 6 are abutted against the corresponding positions of the glass stacks 9, the robot 4 can accurately stack the packaging materials 6 with different specifications at the corresponding positions of the glass stacks 9, and the follow-up packaging machine 10 can accurately package the packaging materials conveniently.

As shown in fig. 13, 14 and 15, the glass stack centering device 2 adopts a hydraulic mode for centering, and comprises a hydraulic pump station 23 and a gantry frame 21 provided with a hydraulic cylinder, an oil pipe and a manual button 24. The gantry frame 21 comprises upright posts 211 arranged at four corners, an upper square tube frame 212 and a lower square steel plate 213, wherein the upright posts 211 at the four corners of the gantry frame 21 are composed of four square tubes, and the four square tubes are directly welded with the rectangular square tube frame 212 at the top. The welding of stand 211 bottom at four angles has square steel plate 213, has the bolt hole on the square steel plate 213. The entire gantry frame 21 is fixed to the channel bars 201 on both sides of the lower conveyor link 5 by bolts via the square steel plates 213. This way the gob centring device 2 is integrated with the lower conveyor chain plate line 5.

The glass produced in the production line of the plant is neatly stacked in sheets on the pallet to form a pack 9. The glass stack centering device 2 further comprises a tray centering device 22 arranged at the lower part of the two transverse sides of the gantry frame 21 and a glass centering device 25 arranged on four sides (front, back, left and right) of the gantry frame 21, wherein the tray centering device 22 is used for centering a tray (with the glass stack 9), and the glass centering device 25 is used for centering glass. The pallet centering device 22 is used for pushing the pallet below the glass to the transverse right middle position of the conveying chain plate line 5, so that the pallet can accurately run along the longitudinal central line direction of the conveying chain plate line 5. The tray centering device 22 sends signals to the hydraulic pump station 23 through a PLC in an electric control system, and overflow valves and proportional valves on the hydraulic pump station 23 control the pushing and retracting of a plurality of hydraulic cylinders. The glass centering device 25 corrects the inclination of the glass placed on the tray, so that the glass is prevented from inclining in one of the left direction, the right direction, the front direction and the rear direction, and the packaging material 6 which cannot be used in the next procedure is prevented from being placed. The glass centering device 25 is only used when the glass tilts, is low in use frequency and is usually realized by controlling the pushing and the retreating of the second hydraulic cylinder 251 and the third hydraulic cylinder 252 through manual operation of a manual button 24 on the gantry frame 21.

Two sets of pallet centering devices 22 are respectively arranged at the two transverse sides of the lowest part of the gantry frame 21, namely the left side and the right side in the advancing direction of the glass stack 9. The tray centering device 22 comprises a first hydraulic cylinder 221, fixed telescopic rods 222 on two sides of the first hydraulic cylinder 221, a first linear bearing 223, a first steel plate 224, a push plate 225 and a square frame 226 (the detailed structure of the tray centering device 22 is seen in the upper part of the channel steel 201 in fig. 14 and 15). The first hydraulic cylinder 221 is fixed on the square through frame 226 through a first steel plate 224, the front end of the hydraulic rod of the first hydraulic cylinder 221 passes through the square through frame 226 and is fixedly connected with the push plate 225, and the hydraulic rod can also be fixedly connected with the push plate 225 through the first steel plate 224. The first linear bearing 223 is fixed on a square through frame 226 through a first steel plate 224, the fixed telescopic rod 222 is inserted into the first linear bearing 223, the front end is connected with a push plate 225 through the first steel plate 224, and the square through frame 226 is fixedly connected with two upright posts 211 of the gantry frame 21. The first hydraulic cylinder 221 is provided with a magnetostrictive displacement sensor, and the magnetostrictive displacement sensor is arranged at the tail position of the first hydraulic cylinder 221. The magnetostrictive displacement driver is connected with a PLC signal line of the electric control system. The first hydraulic cylinders 221 of the two pallet centering devices 22 are symmetrically arranged. In practical use, the push plate 225 in the front of the first hydraulic cylinder 221 is preferably of a square tube structure, and a steel plate is not used, so that deformation caused by directly using the steel plate is avoided.

The glass centering devices 25 are four sets and are respectively arranged on the gantry frames 21 of the left side and the right side of the glass stack 9 and the front part and the rear part of the glass advancing direction. The left and right glass centering devices 25 are respectively fixed on the left and right sides of the gantry frame 21, and the installation position thereof is above the tray centering device 22 (the detailed structure of the left and right glass centering devices 25 is shown in the middle parts of fig. 14 and 15, namely above the tray centering device 22), and the fixing mode and structure are consistent with the tray centering device 22. The concrete structure is as follows: the glass centering devices 25 on the left and right sides (i.e. the transverse sides) of the gantry frame 21 comprise a second hydraulic cylinder 251, fixed telescopic rods 222 on the two sides of the second hydraulic cylinder 251, a first linear bearing 223, a first steel plate 224, a push plate 225 and a square frame 226; the second hydraulic cylinder 251 is fixed on the square through frame 226 through the first steel plate 224, the front end of the hydraulic rod on the second hydraulic cylinder 251 is fixedly connected with the push plate 225, the first linear bearing 223 is fixed on the square through frame 226 through the first steel plate 224, the fixed telescopic rod 222 is inserted into the first linear bearing 223, the front end is fixedly connected with the push plate 225, and the square through frame 226 is fixedly connected with the two columns 211 of the gantry frame 21.

The glass centering devices 25 on the longitudinal (front and rear) sides of the gantry frame 21 are similar to the glass centering devices 25 on the left and right sides (the detailed structure of the glass centering devices 25 on the front and rear sides is shown in the uppermost parts in fig. 14 and 15), and comprise a third hydraulic cylinder 252, fixed telescopic rods 222 on two sides of the third hydraulic cylinder 252, a first linear bearing 223, a first steel plate 224, a push plate 225, a square through frame 226, a front steel plate 231, a lifting hydraulic cylinder 253, a cylinder 233, a linear guide 234 and a slide block 235. The third hydraulic cylinder 252 and the first linear bearing 223 are fixed on the front steel plate 231, the front end of the hydraulic rod of the third hydraulic cylinder 252 passes through the front steel plate 231 and is fixedly connected with the push plate 225, and can be fixedly connected with the push plate 225 through the first steel plate 224, the fixed telescopic rod 222 is inserted into the first linear bearing 223, and the front end is connected with the push plate 225, or can be connected with the push plate 225 through the first steel plate 224. A cylinder 233 with threads is fixed at the middle position of the upper end of the front steel plate 231, a lifting hydraulic cylinder 253 is arranged at the top end of the gantry frame 21 at the position corresponding to the upper part and the lower part of the cylinder 233, and a hydraulic rod of the lifting hydraulic cylinder 253 is in threaded connection with the cylinder 233. The front steel plate 231 slides up and down in the column 211 of the gantry frame 21 through the rail blocks 235. The upright post 211 of the gantry frame 21 is provided with a linear guide rail 234, the inner sides of the two ends of the front steel plate 231 are respectively fixed on two slide rail blocks 235 by bolts, and the slide rail blocks 235 can slide up and down in the groove of the linear guide rail 234. Magnetostrictive displacement sensors are arranged on the second hydraulic cylinder 251, the third hydraulic cylinder 252 and the lifting hydraulic cylinder 253, and are arranged at the tail positions of the second hydraulic cylinder 251, the third hydraulic cylinder 252 and the lifting hydraulic cylinder 253. The magnetostrictive displacement sensor is connected with the PLC through a signal wire. Thus, the front and rear glass centering devices 25 of the pack 9 can be moved up and down along the linear guide 234 by the hydraulic lift cylinder 253, on the one hand preventing the pack 9 from hitting the glass after entering the pack centering device 2, and on the other hand ensuring that the front and rear glass centering devices 25 can be lowered freely for glass centering. The third hydraulic cylinders 252 of the front and rear glass centering devices 25 are symmetrically arranged.

Preferably, since the glass is a fragile product, in order to prevent the front push plate 225 from crushing the glass during the centering operation, a nylon plate 227 is generally fixed in front of the push plate 225 composed of a square tube.

Preferably, in order to accurately control the amount of thrust displacement of each hydraulic cylinder, a magnetostrictive displacement sensor is mounted on each hydraulic cylinder and the lifting hydraulic cylinder 253, and the magnetostrictive displacement sensor is mounted at the tail position of each hydraulic cylinder.

Preferably, for the beautiful appearance and the convenient operation of the gantry frame 21, the oil inlet pipes and the oil outlet pipes of the hydraulic cylinders are generally welded and connected on the gantry frame 21 by steel pipes, and finally, the inlet and outlet gathering pipes are reserved on the gantry frame 21 in a unified manner. And then the rubber hose is connected with a proportional valve and an overflow valve of the hydraulic pump station 23.

Preferably, to facilitate manual operation of the glass centering device 25, a manual button 24 is usually directly fixed to the gantry frame 21, and the manual button 24 is of a prior art structure. Four groups of buttons of four hydraulic cylinders at the front, the rear, the left and the right are arranged on the operation button disc, each group of buttons is divided into green, red and yellow, the green represents propulsion, the red represents stop, and the yellow represents exit. And a red main emergency stop switch is also equipped. The operating button panel button line is directly connected to the proportional valve on the hydraulic pump station 23.

As shown in fig. 1 and 10-12, the two sets of material fixing devices 3 are respectively installed at two sides of the conveying chain plate line 5, and are used for temporarily fixing the wood corner guards 601 and the side vertical plates 602 grabbed by the robot 4, and then enabling the packaging machine 10 to package the periphery of the glass with plastic steel belts.

Each set of material fixing device 3 includes a plurality of material fixing components and a pressure groove 301, and each material fixing component includes an air cylinder 302, an air cylinder solenoid valve 303, a first handle bolt 304, a balance bar 305, a second linear bearing 306, a vertical plate 307, a front top plate 308, a support plate 309, a "U" -shaped connecting column 310, a fixing rod 311, a first bottom plate 313, a fixing plate 350, and the like. Each cylinder 302 is provided with a balance bar 305 on each side.

Two transverse outer edges of the conveying chain plate line 5 are provided with long pressure grooves 301, the vertical plate 307 is connected with a first bottom plate 313 in a welding mode, the first bottom plate 313 is arranged in the pressure grooves 301 and can slide in the pressure grooves 301, a first handle bolt 304 is screwed downwards into the first bottom plate 313, the lower end of the first handle bolt 304 is abutted against the pressure grooves 301, and when the position of the air cylinder 302 needs to be moved, the first handle bolt 304 can be directly unscrewed, so that the material fixing component integrally slides in the pressure grooves 301. The cylinder solenoid valves 303 are mounted on the cylinders 302, and the cylinder solenoid valves 303 on each cylinder 302 can be collectively fixed on the outer side plate of the conveying chain plate line 5 according to actual situations on site. The front end of the air cylinder 302 is connected with the vertical plate 307 through a bolt, and a piston rod of the air cylinder 302 passes through the vertical plate 307 and is in threaded connection with one end of the U-shaped connecting column 310. The balance bar 305 passes through the second linear bearing 306 (the second linear bearing 306 is fixed on the vertical plate 307) and the vertical plate 307 and then is screwed in the U-shaped connecting column 310 through threads, and the other end of the U-shaped connecting column 310 connected with the balance bar 305 is connected with the fixed bar 311 through a pin 312. The fixing rod 311 is directly welded to the fixing plate 350. The fixing plate 350 is fixedly connected to the support plate 309 by bolts, and the upper portion of the support plate 309 is connected to the front top plate 308 by bolts. During operation, the piston rod of the cylinder 302 extends forwards, the supporting plate 309 and the front top plate 308 move towards the glass stack 9, when the front top plate 308 touches the packaging material 6, the front top plate 308 pushes against the packaging material 6, and the next packaging process is performed after the packaging material 6 is temporarily fixed.

As shown in fig. 12, the connection structure between the U-shaped connection pole 310 and the fixing rod 311 in the drawings of the present invention is partially enlarged as follows: the material fixing component comprises three U-shaped connecting columns 310 which are respectively connected with a piston rod of the air cylinder 302 and two balancing rods 305. One end of the U-shaped connecting column 310 is provided with internal threads, the other end of the U-shaped connecting column is in a U-shaped groove 315 structure, one end with the internal threads is in threaded connection with the balance rod 305 or the piston rod of the air cylinder 302, and the U-shaped groove 315 at the other end is connected with the fixing rod 311. The fixing rod 311 is directly welded to the fixing plate 350. The fixing rod 311 is provided with a circular hole, and a U-shaped connecting column 310 connected with the balance bar 305 is movably connected with the circular hole of the fixing rod 311 through a pin 312. The middle U-shaped connecting column 310 connected with the piston rod of the cylinder 302 is connected with the fixing rod 311 by a first bolt 322, and the other end of the first bolt 322 is locked by a nut. As shown by the dotted line in fig. 12, two longitudinal long holes 325 are formed in the fixing plate 350, and when the tray height of the glass gob 9 is different, the supporting plate 309 can move up and down to adjust the height, and then the supporting plate 309 and the fixing plate 350 are connected by the first bolt 322, so that the front top plate 308 can be adjusted to push the packing material 6 to the proper height of the tray. The first bolt 322 on the U-shaped connecting column 310 connected to the front end of the piston rod of the cylinder 302 can be loosened, and after the proper angle is adjusted, the first bolt 322 is tightened, so that the angle between the supporting plate 309 and the front top plate 308 can be adjusted, and the packaging material 6 can be better fixed. Meanwhile, according to actual needs, an origin switch can be installed on each cylinder 302 so as to control the action stroke of the cylinder 302.

As shown in fig. 1 and 5-7, the robots 4 are located at both sides of the conveyor chain plate line 5, and are placed at the center positions of several trolleys for placing the packaging materials 6 or placed at specified positions according to actual conditions. The robot 4 is fixed on a base, a material grabbing device is arranged on a mechanical arm of the robot 4, and the material grabbing device comprises a connecting steel plate 401, a guide post 402, a third linear bearing 403, a micro-motion cylinder 404, a suction cup 405, a support 406, a suction cup electromagnetic valve 407, a micro-motion cylinder electromagnetic valve 408, a visual detection camera 409, a laser range finder 410, a spring 411 and a proximity switch 412. The robot 4 is characterized in that a connecting steel plate 401 is connected to a mechanical arm of the robot 4 through a bolt, one end of a guide post 402 is connected to the connecting steel plate 401 through a bolt, a spring 411 is sleeved on the guide post 402, the other end of the guide post 402 is arranged in a third linear bearing 403, one end of the third linear bearing 403 is fixed to a support 406 through a bolt, a micro-cylinder 404 is connected to the support 406 through a bolt, a sucker 405 is connected to the micro-cylinder 404 through a bolt, a visual detection camera 409 and a laser range finder 410 are mounted on the support 406, one side, facing the connecting steel plate 401, of the support 406 is connected with a proximity switch 412 through a bolt, a sucker electromagnetic valve 407 is used for controlling the sucker 405 to absorb or release, and a micro-cylinder electromagnetic valve 408 is used for controlling the micro-cylinder 404 to move by a slight displacement.

Preferably, as shown in the figure, the bracket 406 is in a cross shape, the number of the guide posts 402 is two, the two guide posts 402 are symmetrically arranged left and right around the center of the bracket 406, the number of the inching cylinders 404 is two, and the suction cups 405 on the two inching cylinders 404 are symmetrically arranged up and down around the center of the bracket 406.

The electric control system comprises a PLC, a frequency converter, a control power supply and a relay, wherein the PLC is connected with the frequency converter, the control power supply and the relay through wires. The correlation switches arranged at the head end and the tail end of each section of conveying chain plate line 5 transmit signals to the PLC, the PLC controls the frequency converter, the frequency converter controls the control motor of the conveying chain plate line 5 to start and stop, and the frequency converter is connected with the control motor through a control line. The glass stack centering device 2 sends signals to the hydraulic pump station 23 through a PLC in an electric control system, and an overflow valve and a proportional valve on the hydraulic pump station 23 act to control the pushing and returning of each hydraulic cylinder, so that the automatic control of the push disc centering is realized. The laser range finder 410 and the vision detection camera 409 of the robot 4 transmit signals to the PLC, the PLC controls the actions of the suction cup electromagnetic valve 407 and the micro-motion cylinder electromagnetic valve 408 of the robot 4, and the suction cup 405 is controlled to grab and stack the packaging materials 6. When the steel connecting plate 401 touches the sensing position of the proximity switch 412 on the robot 4, the proximity switch 412 transmits a signal to the PLC, and the PLC controls the robot 4 to stop. Next, the PLC controls the cylinder solenoid valve 303 of the material fixing device 3 to operate, so that the piston rod of the cylinder 302 is operated to abut against the packaging material 6. The PLC then signals the packer 10 and the packer 10 completes the wrapping of the belt of the pack 9. The PLC sends a return signal to the cylinder solenoid valve 303 of the material fixing device 3, so that the piston rod of the cylinder 302 moves back to the original position. The PLC is connected to the cylinder solenoid valve 303 of the material fixing device 3 using a control line.

As shown in fig. 1, 2, 8, and 16-18, the packaging material 6 includes a wood corner protector 601, a side standing board 602, and an upper pressing board 603. The wood corner protector 601 is L-shaped, and the side vertical plate 602 and the upper pressure plate 603 are I-shaped. The robot 4 automatically picks the packaging materials 6 with corresponding specifications, and automatically places the corresponding packaging materials 6 at corresponding positions of the glass stacks 9 according to the specifications of the glass stacks 9 read by the automatic code reader 1, so that the wood corner protectors 601, the side vertical plates 602 and the upper pressing plates 603 for automatically placing the glass with different specifications for the glass stacks 9 with different specifications are realized, and the packaging materials 6 in the embodiment are respectively four specifications and are 12 packaging materials 6. The packaging material 6 of the finished glass consists of three packaging materials 6 of a wood corner protector 601 (a wood corner protector I6011, a wood corner protector II 6012, a wood corner protector III 6013 and a wood corner protector IV 6014), a side vertical plate 602 (a side vertical plate I6021, a side vertical plate II 6022, a side vertical plate III 6023 and a side vertical plate IV 6024) and an upper pressing plate 603 (an upper pressing plate I6031, an upper pressing plate II 6032, an upper pressing plate III 6033 and an upper pressing plate IV 6034). Each packaging material 6 is divided into four different specifications, wherein a wood corner protector I6011, a wood corner protector II 6012, a wood corner protector III 6013 and a wood corner protector IV 6014 represent the four different specifications of the packaging material 6, namely the wood corner protector 601; the upper pressing plate I6031, the upper pressing plate II 6032, the upper pressing plate III 6033 and the upper pressing plate IV 6034 represent four different specifications of the packaging material 6 of the upper pressing plate; the first side vertical plate 6021, the second side vertical plate 6022, the third side vertical plate 6023 and the fourth side vertical plate 6024 represent four different specifications of the packaging material 6, i.e., the side vertical plate.

As shown in fig. 1 and 2, a material grabbing robot 4 is respectively arranged on two sides of a conveying chain plate line 5, and four different specifications of wood corner protectors 601 are arranged right behind the robot 4 in the position shown in the figure. The longitudinal central line of the conveying chain plate line 5 is taken as a symmetrical line, and the two sides are symmetrically distributed. Wherein, four kinds of packaging materials 6 with different specifications, namely a wood corner protector I6011, a wood corner protector II 6012, a wood corner protector III 6013 and a wood corner protector IV 6014 can be placed at most on each side, and according to the production condition, the four kinds of packaging materials 6, namely the wood corner protector I6011, the wood corner protector II 6012, the wood corner protector III 6013 and the wood corner protector IV 6014, can also be in the same specification.

As shown in fig. 1, 8 and 9, the wood corner protector 601 is placed on a corner protector trolley 7, and the corner protector trolley 7 comprises a chain cover 701, a chain 702, a chain wheel 703, a driven chain wheel 704, a rear baffle 705, a frame 706, a front baffle 707, a conveying belt 708, a bearing 710, a trolley motor 711, a bearing seat, a driven roller 720 and a driving roller 721. The shafts at both side ends of the drive roll 721 are placed in bearings 710, and the bearings 710 are fixed to the frame 706 by bearing blocks. Similarly, the driven roller 720 is also fixed to the frame 706 by the same structure. The conveyor belt 708 is wound around a drive roller 721 at one end and a driven roller 720 at the other end. The rotation of the conveyor belt 708 is driven by a trolley motor 711 through a sprocket 703 fixed on the motor shaft to drive a chain 702, the chain 702 drives a driven sprocket 704 fixed on a drive roller 721, the driven sprocket 704 drives the drive roller 721 to rotate, and further drives the driven roller 720 and the conveyor belt 708 on the other side to rotate. For safety reasons, the chain 702 is protected on the outside by a chain cover 701, and the chain cover 701 is directly fixed to the frame 706 by bolts. In order to facilitate the operators to orderly arrange the wood corner protectors 601 layer by layer, the front baffle 707 is arranged on the rack 706 on the side of the driven roller 720 of the conveying belt 708, and the front baffle 707 is fixed on the rack 706 through bolts. Similarly, in order to accurately stop the wooden corner guards 601 at the positions to be grabbed by the robot 4, a rear baffle 705 is mounted on the other side frame 706 of the conveying belt 708, and the rear baffle 705 is also fixed on the frame 706 through bolts.

As shown in fig. 1 and 16 to 18, upper press plate 603 and side vertical plates 602 of packaged material 6 are placed on the left and right sides of robot 4 in the illustrated position. The side vertical plates 602 and the upper pressing plates 603 of the glass stacks 9 with the same specification are arranged on the same trolley (vertical plates and pressing plate trolley 8).

The vertical plate and pressure plate trolley 8 comprises a second bottom plate 803, a material mechanical limiting device and a travelling wheel 809 arranged below the second bottom plate 803. A plurality of material mechanical limiting devices are mounted on the second bottom plate 803, and the side vertical plate 602 and the upper pressing plate 603 are placed on the material mechanical limiting devices. The material mechanical limiting device comprises two side cover plates 801, two trapezoidal plates 802 (the cross section is trapezoidal), two angle irons 806, a sizing block 805, a gap screw 807 and a second handle bolt 808. Two trapezoidal boards 802 with trapezoidal sections are placed on the second bottom plate 803 side by side, the side cover plate 801 is in a shape like a Chinese character '7', the side cover plate 801 is connected with the second bottom plate 803 through bolts, the upper end of the side cover plate 801 is pressed on the steps of the two trapezoidal boards 802 from two sides to the bent part, when the bolts are loosened, the two trapezoidal boards 802 can move in the two side cover plates 801, and the distance between the two trapezoidal boards 802 can be adjusted. An angle iron 806 is welded on each trapezoidal plate 802, the left angle iron 806 is in an L shape, the right angle iron 806 is in a I9498shape, the two angle irons 806 are assembled into a channel steel shape, one end of each side vertical plate 602 or upper pressure plate 603 is placed between the two angle irons 806, so that the upper pressure plate 603 or the side vertical plates 602 are clamped in the middle to play a role in accurate positioning, the other end of each side vertical plate 602 or upper pressure plate 603 is placed on a sizing block 805, and the sizing block 805 is connected with the second bottom plate 803 through bolts. The distance between the two angle irons 806 is controlled by adjusting the distance between the trapezoidal plates 802. When the distance between the trapezoidal plates 802 needs to be adjusted, the bolts on the side cover plate 801 are loosened, the distance between the two trapezoidal plates 802 is moved to be the same as the width of the upper pressure plate 603 or the side vertical plate 602, and then the bolts on the side cover plate 801 are screwed down. Meanwhile, in order that the upper distance between the two angle irons 806 is consistent with the lower distance, a second long hole is formed in the upper part of the angle iron 806, a gap screw 807 penetrates through the two angle irons 806, one end of the gap screw is fixed through a bolt, and the other end of the gap screw is fixed through a second handle bolt 808 which can be manually adjusted. In order to facilitate the robot 4 to accurately grasp the side standing plate 602 or the upper pressing plate 603, the horizontal height of the upper pressing plate 603 or the side standing plate 602 on the second bottom plate 803 must be kept consistent, and for this purpose, a sizing block 805 is fixed on the second bottom plate 803 by bolts.

Preferably, the vertical plate and pressure plate trolley 8 further comprises a rail 810, and the road wheels 809 slide on the rail 810; 4 groove-shaped travelling wheels 809 are mounted at the bottom of the second bottom plate 803 of the vertical plate and pressure plate trolley 8, the travelling wheels 809 are mounted on the side steel plates 804 at two sides through rolling shafts, the upper ends of the side steel plates 804 are fixedly connected with the second bottom plate 803, and the joints of the outer sides of the side steel plates 804 and the rolling shafts are clamped by snap springs. To facilitate replacement of the side riser 602 and upper platen 603, the riser, platen cart 8 can be pulled out along the track 810.

The working process of the full-automatic feeding device comprises the following steps:

automatically scanning size of the glass: the glass stack 9 is transported to the conveying chain plate line 5 by a forklift or an AGV, after the automatic code reader 1 automatically reads information on the two-dimensional code or the bar code, the automatic code reader 1 transmits the size specification information of the glass stack 9 to the PLC, and the PLC automatically controls the actions of the hydraulic pump station 23, the frequency converter, the robot 4 and the material fixing device 3 according to the entering or leaving signal of the glass stack 9 sensed by the correlation switch on the conveying chain plate line 5.

And (3) transversely centering the glass stacks:

when the glass stacks 9 are conveyed to the conveying chain plate line 5 in the glass stack centering from the first conveying chain plate line 5, the side surface on the conveying chain plate line 5 is opposite to the shooting switch to give a PLC signal, the PLC controls the frequency converter, the frequency converter controls the motor to stop, and the glass stacks 9 on the conveying chain plate line 5 stop in the glass stack centering device 2. Then, the PLC controls the action of an overflow valve and a proportional valve on the hydraulic pump station 23 according to the information read by the automatic code reader 1, so that a hydraulic rod in the first hydraulic cylinder 221 acts, and the forward pushing is started. Meanwhile, the PLC transmits the size information of the glass stack 9 to a magnetostrictive displacement sensor in the first hydraulic cylinder 221, when the extension displacement of a hydraulic rod of the first hydraulic cylinder 221 reaches a set value of the magnetostrictive displacement sensor, the glass stack 9 is pushed to the longitudinal center line position of the conveying chain plate line 5 at the moment, the magnetostrictive displacement sensor transmits a position signal to the PLC, and the PLC controls a proportional valve and an overflow valve on the hydraulic pump station 23 to act, so that the hydraulic rod of the first hydraulic cylinder 221 starts to return until the push rod of the first hydraulic cylinder 221 returns to the original position and stops acting. The conveyor chain plate line 5 is then activated to move the pack 9 out of the hydraulic pack centering device 2. To avoid signal confusion in the PLC, the exit end of each conveyor chain line 5 is fitted with another correlation switch to confirm that the pack 9 has left the conveyor chain line 5 and then to allow the next pack 9 to flow into the conveyor chain line 5.

Glass deviation rectifying and centering:

when the glass on the glass stack 9 is seriously inclined, manual correction of the glass is needed. The degree of deviation of the glass needs to be judged and identified by naked eyes. When the glass is transversely centered, the glass is recognized by naked eyes to be seriously inclined towards one surface, and the glass centering device 25 is started to manually center the glass. When the glass inclines towards one surface direction of the left side and the right side of the conveying chain plate line 5, as shown in fig. 14 and 15, the green color of the second hydraulic cylinder 251 on the button box of the manual button 24 on the gantry frame 21 is manually pressed to push the button forwards, and the pushing plates 225 on the two sides are slowly pushed to the glass usually in an electric mode, so that the glass on the side where the inclination occurs is slowly returned to the nearly vertical position until the standard state required by a customer is met. Then manually pressing a yellow button to make the hydraulic rod back to the original position. When the glass inclines towards the front surface and the rear surface of the conveying chain plate line 5, at the moment, a person manually clicks a button of the gantry frame ascending and descending hydraulic cylinder 253, and a hydraulic rod in the ascending and descending hydraulic cylinder 253 drives the third hydraulic cylinder 252 to integrally descend until the ascending and descending hydraulic cylinder 253 reaches the set limit position. The third cylinder 252 is then operated, as is the second cylinder 251, until the tilted glass is corrected to the vertical position. And then manually clicking the button of the lifting hydraulic cylinder 253 to return the hydraulic rod of the lifting hydraulic cylinder 253 to the upper original point position. Then a start button of a conveying chain plate line 5 on the touch screen is manually operated, and the conveying chain plate line 5 is started to drive the glass stacks 9 to flow out of the glass stack centering device 2.

The robot grabs packing material 6:

the PLC converts the size information of the glass stack 9 read by the automatic code reader 1 into a control signal and sends the control signal to the robot 4, and the robot 4 automatically grabs one of four different specifications of three packaging materials 6, namely a corresponding wood corner protector 601 (a wood corner protector I6011, a wood corner protector II 6012, a wood corner protector III 6013 and a wood corner protector IV 6014), a side vertical plate 602 (a side vertical plate I6021, a side vertical plate II 6022, a side vertical plate III 6023 and a side vertical plate IV 6024) and an upper pressing plate 603 (an upper pressing plate I6031, an upper pressing plate II 6032, an upper pressing plate III 6033 and an upper pressing plate IV 6034).

The robot grabs wooden corner guards 601 and puts at the right-hand included angle of the glass stack:

after the glass stack 9 is transported to conveying chain plate line 5 by fork truck or AGV, after automatic code reader 1 automatically read the information on two-dimensional code or the bar code, automatic code reader 1 transmits this glass stack 9's dimensional specification information for PLC, PLC control converter, converter control motor make glass stack 9 accurate off-position on conveying chain plate line 5, snatch the wood angle bead 601, the side riser 602 and the top board 603 of corresponding specification according to glass dimensional information control robot 4 again. When the wood corner protector 601 is grabbed, the robot 4 enables the visual inspection camera 409 to shoot at the grabbing position of the packaging material 6, and the PLC controls the horizontal X-axis and Y-axis offset of the robot 4 according to the position of the central point of the shot packaging material 6; meanwhile, the laser range finder 410 detects the depth position of the packaging material 6 on the Z axis, and then the PLC controls the robot 4 to accurately grab the packaging material 6. After the robot 4 grabs the packaging material 6 and places the wood corner protector 601 at the right corner of the glass stack 9, the micro-motion cylinder 404 slides to the left to complete the close attachment of the other side of the L-shaped wood corner protector 601 and the glass stack 9. Then, the suction cup 405 of the robot 4 moves forward to compress the spring 411, the proximity switch 412 is close to the connecting steel plate 401, when the set distance is reached, the proximity switch 412 sends a signal to the PLC, the PLC controls the robot 4 to stop pushing the packaging material 6 forward, and the longitudinal close of the wood corner protector 601 and the glass is completed. Then the PLC controls the cylinder electromagnetic valve 303 on the material fixing device 3 to act, the piston rod and the balance rod 305 of the cylinder 302 in the corresponding cylinder 302 drive the front top plate 308 to push forwards, the front top plate 308 props against the wood corner protector 601, so that the wood corner protector 601 is not loosened, and the temporary fixing of the wood corner protector 601 is completed.

The robot grabs wooden angle bead 601 and puts in glass buttress left side contained angle department:

next, the robot 4 grabs another wood corner protector 601, the driving track of which is substantially consistent with the action of the wood corner protector 601 before grabbing, so that the wood corner protector 601 is attached to the left corner position of the glass stack 9, and then the PLC controls the action of the cylinder electromagnetic valve 303, which drives the front top plate 308 to push forward by the piston rod and the balance rod 305 of the corresponding cylinder 302, and abuts against the corresponding wood corner protector 601, so that the wood corner protector is not loosened.

The robot grabs the side riser and puts at the glass buttress side:

the robot 4 then grabs the side vertical plate 602, the grabbing of the side vertical plate 602 depends on the visual detection camera 409 to judge the center point of the packaged material 6, the laser range finder 410 detects the depth position of the packaged material, then the robot 4 grabs the side vertical plate 602 again, the packaged material 6 is placed at the side position of the glass stack 9 after being grabbed according to the preset fixed running track before the specification of the glass stack 9, whether the packaged material 6 is placed in place or not is compressed by the guide pillar 402 and the spring 411 on the robot 4, the proximity switch 412 is close to the connecting steel plate 401, when the set distance is reached, the proximity switch 412 sends a signal to the PLC, the PLC controls the robot 4 to stop pushing the packaged material 6 forward, then the PLC controls the cylinder solenoid valve 303 of the material fixing device 3 to act, the piston rod and the balance rod 305 of the corresponding cylinder 302 drive the front top plate 308 to push forward, the front top plate 308 abuts against the packaged material 6, then the sucker 405 on the robot 4 leaves, and the robot 4 returns to the original position.

The robot grabs the upper platen and places it above the pack:

the robot 4 then grabs the upper pressing plate 603, the upper pressing plate 603 is a long strip plate, the robot 4 grabs according to a fixed track, and the judgment of the longitudinal depth dimension still depends on the laser range finder 410 to give Z-axis depth data. After the robot 4 sucks the upper press plate 603 by the suction cup 405, the upper press plate 603 is stacked on the corresponding position of the glass pack 9 according to the preset fixed running track before the specification of the glass pack 9. Whether packing material 6 puts in place also leans on the compression of robot 4 top guide pillar 402 spring 411, connecting plate 401 is pressed close to proximity switch 412, proximity switch 412 signals gives PLC when reaching the settlement distance, PLC control robot 4 stops to push forward packing material 6, then sucking disc solenoid valve 407 action on sucking disc 405, pipeline release gas pressure makes top board 603 and sucking disc 405 break away from, robot 4 moves, get back to the original point position, accomplish snatching and putting things in good order the action of whole top board 603. At this point, the work of grabbing the packaging material 6 is completed. Since the upper press plate 603 is placed on the upper surface of the glass, it is not inclined due to gravity, and thus it is not necessary to temporarily fix the cylinder 302 of the material fixing device 3 after stacking.

After the actions are completed, the PLC gives a signal to the packing machine 10, the packing machine 10 starts to descend, the glass stack 9 is packed by the horizontal surrounding belts, the wood corner guards 601, the side vertical plates 602 and the glass stack 9 are integrally wrapped by the plastic steel belts, and then the air cylinder 302 of the material fixing device 3 returns to the initial position. The action flow of grabbing, stacking and horizontally packaging the whole packaging material 6 is completed.

In the present invention, "longitudinal direction" refers to the longitudinal direction of the entire conveyor chain plate line 5, and also to the running direction of the conveyor chain plate line 5. "lateral" refers to the width direction of the conveyor chain plate line 5. The front, back, left and right are based on the walking direction of the glass stack 9.

Well-known functions or constructions are not described in detail herein for brevity and/or clarity. Any modification, equivalent change and modification of the above embodiment examples according to the technical essence of the present invention will still fall within the protection scope of the technical solution of the present invention without departing from the technical solution of the present invention.

Claims

1. The utility model provides a full automatic feeding device of glass baling line which characterized in that: the full-automatic feeding device comprises an automatic code reader (1), a glass stack centering device (2), a material fixing device (3), a robot (4), a conveying chain plate line (5) and an electric control system; the automatic code reader (1) is used for automatically scanning codes to read the specification and the size of the glass stack (9); the glass stack centering device (2) is arranged on the conveying chain plate line (5) and is used for transversely centering the glass stack (9) on the conveying chain plate line (5); the two robots (4) are respectively arranged at the two transverse sides of the conveying chain plate line (5) and used for automatically grabbing packaging materials (6) of different types and specifications according to the size of the glass stacks (9) and stacking the packaging materials on corresponding positions of the glass stacks (9); the two sets of material fixing devices (3) are respectively arranged at the two transverse sides of the conveying chain plate line (5) and are used for temporarily fixing the packaging materials (6) stacked on the glass stack (9) by the robot (4); the conveying chain plate line (5) is used for conveying glass stacks (9); the electric control system receives the specification and size information of the glass stacks (9) read by the automatic code reader (1), controls the glass stack centering device (2) to enable the glass stacks (9) to be centered transversely on the conveying chain plate line (5), controls the conveying chain plate line (5) to run or stop, gives a signal to the robot (4) to enable the robot (4) to automatically grab the packaging materials (6) and stack the packaging materials (6) at corresponding positions of the glass stacks (9), and controls the material fixing device (3) to enable the packaging materials (6) to be abutted against the corresponding positions of the glass stacks (9);

the glass stack centering device (2) comprises a gantry frame (21) and two tray centering devices (22), wherein the lower end of the gantry frame (21) is detachably connected with the conveying chain plate line (5); the lower parts of the two transverse sides of the gantry frame (21) are provided with a tray centering device (22), and the tray centering device (22) comprises a first hydraulic cylinder (221), fixed telescopic rods (222) on the two sides of the first hydraulic cylinder (221), a first linear bearing (223), a first steel plate (224), a push plate (225) and a square frame (226); the first hydraulic cylinder (221) is fixed on the square through frame (226) through a first steel plate (224), the front end of a hydraulic rod on the first hydraulic cylinder (221) penetrates through the square through frame (226) to be fixedly connected with the push plate (225), the first linear bearing (223) is fixed on the square through frame (226) through the first steel plate (224), the fixed telescopic rod (222) is inserted into the first linear bearing (223), the front end of the fixed telescopic rod (222) is fixedly connected with the push plate (225), and the square through frame (226) is fixedly connected with the gantry frame (21); a magnetostrictive displacement sensor is arranged on the first hydraulic cylinder (221), and the magnetostrictive displacement sensor is arranged at the tail position of the first hydraulic cylinder (221);

the glass stack centering device (2) further comprises a glass centering device (25), and the glass centering device (25) is arranged on all four sides of the gantry frame (21); the glass centering devices (25) arranged on the two transverse sides of the gantry frame (21) are arranged above the tray centering device (22), and the glass centering devices (25) arranged on the two transverse sides comprise a second hydraulic cylinder (251), fixed telescopic rods (222) on the two sides of the second hydraulic cylinder (251), a first linear bearing (223), a first steel plate (224), a push plate (225) and a square tube frame (226); the second hydraulic cylinder (251) is fixed on the square through frame (226) through a first steel plate (224), the front end of a hydraulic rod on the second hydraulic cylinder (251) is fixedly connected with the push plate (225), the first linear bearing (223) is fixed on the square through frame (226) through the first steel plate (224), the fixed telescopic rod (222) is inserted into the first linear bearing (223), the front end of the fixed telescopic rod is fixedly connected with the push plate (225), and the square through frame (226) is fixedly connected with the gantry frame (21); the glass centering devices (25) arranged on the two longitudinal sides of the gantry frame (21) comprise a third hydraulic cylinder (252), fixed telescopic rods (222) on the two sides of the third hydraulic cylinder (252), a first linear bearing (223), a first steel plate (224), a push plate (225), a front steel plate (231), a lifting hydraulic cylinder (253), a cylinder barrel (233), a linear guide rail (234) and a slide rail block (235); the third hydraulic cylinder (252) and the first linear bearing (223) are fixed on the front steel plate (231), the front end of a hydraulic rod of the third hydraulic cylinder (252) penetrates through the front steel plate (231) and is fixedly connected with the push plate (225) through the first steel plate (224), the fixed telescopic rod (222) is inserted into the first linear bearing (223), the front end of the hydraulic rod is connected with the push plate (225) through the first steel plate (224), the upper end of the front steel plate (231) is fixedly provided with a cylinder barrel (233) with threads, the top end of the gantry frame (21) at the position corresponding to the upper part and the lower part of the cylinder barrel (233) is provided with a lifting hydraulic cylinder (253), and the hydraulic rod of the lifting hydraulic cylinder (253) is in threaded connection with the cylinder barrel (233); the gantry frame (21) is provided with a linear guide rail (234), the inner sides of two ends of the front steel plate (231) are respectively fixed on two slide rail blocks (235) through bolts, and the slide rail blocks (235) slide up and down in the groove of the linear guide rail (234); the front end of the push plate (225) is fixedly provided with a nylon plate (227), the second hydraulic cylinder (251), the third hydraulic cylinder (252) and the lifting hydraulic cylinder (253) are provided with magnetostrictive displacement sensors, and the magnetostrictive displacement sensors are arranged at the tail positions of the second hydraulic cylinder (251), the third hydraulic cylinder (252) and the lifting hydraulic cylinder (253).

2. The full-automatic feeding device of glass packing line of claim 1, characterized in that: the material fixing device (3) comprises a plurality of material fixing components and a pressure groove (301), wherein each material fixing component comprises an air cylinder (302), an air cylinder electromagnetic valve (303), a first handle bolt (304), a balancing rod (305), a second linear bearing (306), a vertical plate (307), a front top plate (308), a supporting plate (309), a U-shaped connecting column (310), a fixing rod (311), a first bottom plate (313) and a fixing plate (350); the two transverse outer edges of the conveying chain plate line (5) are provided with press grooves (301), a vertical plate (307) is fixedly connected with a first bottom plate (313), the first bottom plate (313) is arranged in the press grooves (301) and can slide in the press grooves (301), a first handle bolt (304) is screwed downwards into the first bottom plate (313), the lower end of the first handle bolt (304) abuts against the press grooves (301), and an air cylinder electromagnetic valve (303) is installed on an air cylinder (302); the front end of the air cylinder (302) is in bolted connection with the vertical plate (307), a piston rod of the air cylinder (302) penetrates through the vertical plate (307) to be connected with one end of the U-shaped connecting column (310), and the other end of the U-shaped connecting column (310) connected with the piston rod of the air cylinder (302) is connected with the fixing rod (311); the balance rod (305) passes through the second linear bearing (306) and the vertical plate (307) to be connected with the U-shaped connecting column (310), and the other end of the U-shaped connecting column (310) connected with the balance rod (305) is connected with the fixed rod (311); the fixing rod (311) is connected with the fixing plate (350) in a welding mode, the fixing plate (350) is connected with the supporting plate (309) through bolts, and the supporting plate (309) is connected with the front top plate (308) through bolts.

3. The full-automatic feeding device of glass packing line of claim 2, characterized in that: the material fixing component comprises three U-shaped connecting columns (310), one end of each U-shaped connecting column (310) is provided with an internal thread, the other end of each U-shaped connecting column (310) is of a U-shaped groove (315) structure, one end of each U-shaped connecting column (310) with the internal thread is respectively in threaded connection with a piston rod of the air cylinder (302) and balancing rods (305) on two sides, and one end of each U-shaped groove (315) of each U-shaped connecting column (310) is connected with a fixing rod (311); the fixing rod (311) is provided with a round hole, the U-shaped connecting columns (310) on two sides are movably connected with the round hole of the fixing rod (311) through a U-shaped groove (315) through a pin shaft (312), the middle U-shaped connecting column (310) is connected with the fixing rod (311) through a first bolt (322) through the U-shaped groove (315), and the other end of the first bolt (322) is locked by a nut.

4. The full-automatic feeding device of glass packing line of claim 1, characterized in that: the robot (4) comprises a connecting steel plate (401), a guide post (402), a third linear bearing (403), a micro-motion cylinder (404), a suction cup (405), a bracket (406), a suction cup electromagnetic valve (407), a micro-motion cylinder electromagnetic valve (408), a visual detection camera (409), a laser range finder (410), a spring (411) and a proximity switch (412); the robot is characterized in that a connecting steel plate (401) is connected to a mechanical arm of the robot (4) through a bolt, one end of a guide pillar (402) is connected to the connecting steel plate (401) through a bolt, a spring (411) is sleeved on the guide pillar (402), the other end of the guide pillar (402) is arranged in a third linear bearing (403), one end of the third linear bearing (403) is fixed to a support (406) through a bolt, a micro cylinder (404) is connected to the support (406) through a bolt, a sucking disc (405) is connected to the micro cylinder (404) through a bolt, a visual detection camera (409) and a laser range finder (410) are installed on the support (406), a proximity switch (412) is connected to one side, facing towards the connecting steel plate (401), of the support (406) through a bolt, a sucking disc electromagnetic valve (407) is used for controlling adsorption or release of the sucking disc (405), and a micro cylinder electromagnetic valve (408) is used for controlling the micro cylinder (404) to stretch.

5. The full-automatic feeding device of the glass packing wire according to claim 4, characterized in that: two micro-motion cylinders (404) are connected to the support (406) through bolts, and sucking discs (405) on the two micro-motion cylinders (404) are symmetrically arranged in the center of the support (406).

6. The full-automatic feeding device of the glass packing wire according to claim 1, characterized in that: the packaging material (6) comprises wood corner protectors (601), the wood corner protectors (601) are placed on a corner protector trolley (7), and the corner protector trolley (7) comprises a chain cover (701), a chain (702), a chain wheel (703), a driven chain wheel (704), a rear baffle (705), a rack (706), a front baffle (707), a conveying belt (708), a bearing (710), a bearing seat, a trolley motor (711), a driven roller (720) and a driving roller (721); a front baffle (707) is arranged on a rack (706) on the side of a driven roller (720) of a conveying belt (708), a rear baffle (705) is arranged on the rack (706) on the other side of the conveying belt (708), shafts at two ends of a driving roller (721) and the driven roller (720) are arranged in a bearing (710), the bearing (710) is fixed on the rack (706) through a bearing seat, one end of the conveying belt (708) is wound on the driving roller (721), the other end of the conveying belt is wound on the driven roller (720), a trolley motor (711) drives a chain (702) through a chain wheel (703) fixed on a motor shaft, the chain (702) drives a driven chain wheel (704) fixed on the driving roller (721), and the driven chain wheel (704) drives the driving roller (721) to rotate so as to drive the conveying belt (708) and the driven roller (720) to rotate; the outer side of the chain (702) is provided with a chain cover (701).

7. The full-automatic feeding device of the glass packing wire according to claim 1, characterized in that: the packaging material (6) further comprises a side vertical plate (602) and an upper pressing plate (603), the side vertical plate (602) and the upper pressing plate (603) are placed on the same vertical plate and pressing plate trolley (8), the vertical plate and pressing plate trolley (8) comprise a second bottom plate (803), a material mechanical limiting device and travelling wheels (809), and the travelling wheels (809) are mounted below the second bottom plate (803); a plurality of material mechanical limiting devices are mounted on the second bottom plate (803), and the side vertical plate (602) and the upper pressing plate (603) are placed on the material mechanical limiting devices; the material mechanical limiting device comprises two side cover plates (801), two trapezoidal plates (802), a sizing block (805), two angle irons (806) and a gap screw (807), wherein the two trapezoidal plates (802) are placed on a second bottom plate (803), the upper end of each side cover plate (801) is pressed on a step of each trapezoidal plate (802), the side cover plates (801) are connected with the second bottom plate (803) through bolts, the angle irons (806) are welded on the trapezoidal plates (802), the two angle irons (806) form a channel steel shape, one ends of each side cover plate (602) and the upper pressing plate (603) are placed between the two angle irons (806), the other ends of the side cover plates (602) and the upper pressing plate (603) are placed on the sizing block (805), the sizing block (805) is connected with the second bottom plate (803) through bolts, second long holes are formed in the upper portions of the two angle irons (806), the gap screw (807) penetrates through the two angle irons (806), one end of each side cover plate is fixed through a bolt, and the other end of each side cover plate is fixed through a second handle bolt (808) capable of being manually adjusted.

8. The full-automatic feeding device of glass packing line of claim 7, characterized in that: the vertical plate and pressure plate trolley (8) further comprises a track (810), and the travelling wheels (809) slide on the track (810); the walking wheels (809) are groove-shaped wheels, the walking wheels (809) are mounted on the side steel plates (804) on the two sides through rolling shafts, the upper ends of the side steel plates (804) are fixedly connected with the second bottom plate (803), and clamp springs are clamped at the joints of the outer sides of the side steel plates (804) and the rolling shafts.