CN116891124A

CN116891124A - Positioning device of glass stacking device and glass stacking device

Info

Publication number: CN116891124A
Application number: CN202310937802.4A
Authority: CN
Inventors: 李青; 李赫然; 李庆文; 王耀君; 赵志龙; 宋祎平
Original assignee: Beijing Walking Qianli Technology Co ltd; Zhaohong Precision Beijing Technology Co ltd
Current assignee: Beijing Walking Qianli Technology Co ltd; Zhaohong Precision Beijing Technology Co ltd
Priority date: 2023-07-27
Filing date: 2023-07-27
Publication date: 2023-10-17

Abstract

The present disclosure provides a positioner of glass stacking equipment and glass stacking equipment, and positioner includes: a frame mounted on a robot of the glass stacking apparatus; the sucker unit group comprises a plurality of sucker units which are distributed on the frame, and the sucker units comprise suckers which are connected to the frame in a swinging way; the positioning unit group comprises a plurality of positioning units, each positioning unit comprises a positioning plate, and the positioning plates of the plurality of positioning units are movably arranged on the frame along the transverse direction or the longitudinal direction of the frame so as to adjust the relative position of glass adsorbed on the sucker unit group and the frame; the first monitoring unit group comprises a plurality of laser transmitters which are respectively arranged on a plurality of positioning plates and used for monitoring the relative positions of glass adsorbed on the sucker unit group and a stacking frame of the glass stacking device. The positioning device can realize simultaneous positioning in the process of grabbing glass by the manipulator, and improves the production efficiency.

Description

Positioning device of glass stacking device and glass stacking device

Technical Field

The disclosure relates to the technical field of glass production equipment, in particular to a positioning device of glass stacking equipment and the glass stacking equipment.

Background

After finishing the glass processing, the glass is transported or stored after stacking. The glass stacking device is usually used for stacking glass, and the glass stacking device which adopts a mechanical arm to complete the grabbing action runs stably, has high precision, short period and high automation degree in the stacking process. However, when stacking is performed by using a manipulator, the problem that the glass is not stacked on the stacking frame exists, and therefore, the positioning device is needed to assist in avoiding the problem that the glass is not stacked.

In the prior art 1, a manipulator glass stacking device and a positioning method (CN 102502267A) are provided, a rotating connecting rod of the positioning device is connected with a sliding base through a sliding bearing, a Y-shaped scale supporting rod is installed in the rotating connecting rod and is fastened with the rotating connecting rod through a set screw, a buffer positioning block is arranged on the sliding base, the buffer positioning block is used for leaning against the rotating connecting rod when in work, one end of a tensioning spring is connected with a welding rod on the sliding base, the other end of the tensioning spring is connected with the rotating connecting rod, and when the rotating connecting rod is in a working position or a resetting position, a pulling force can be given to the rotating connecting rod to enable the rotating connecting rod to lean against a buffer positioning block or a resetting baffle on the sliding base.

Prior art 2 proposes a method (CN 102502268A) for positioning a first piece of glass in a robot glass stacking system, comprising: the horizontal plane ranging sensor and the vertical plane ranging sensor are respectively arranged on the upper platform and the guardrail of the rotating platform, the sensors are arranged on the other side of the rotating platform along the YbObZb plane in the same way, the glass container frame is fixed on the rotating platform, the calibration plates are respectively arranged on the two planes of the glass container frame, the distance of the ranging sensors is measured by the ranging sensors to obtain planes a1 and a2 of the glass container frame, and the planes a1 and a2 of the glass container frame are mirrored on the coordinate system at the stacking side; the XbObZb plane is measured after the rotary table is installed, and the X axis of the workpiece coordinate system is obtained through the planes XbObZb and a 1; xbObZb and a2 obtain the Z axis of the object coordinate system; planes a1 and a2 obtain the Y-axis of the workpiece coordinate system; and determining a coordinate system, and accurately placing glass by using a manipulator to call the coordinate system when the turntable turns to the stacking side.

According to the prior art, although the stacking device and the positioning method can ensure that the glass can be stacked in order in the stacking process, the problem of how to simultaneously position the glass in the process of grabbing the glass by the manipulator to ensure that the glass is stacked in order is a problem to be considered by a person skilled in the art in order to improve the production efficiency.

Disclosure of Invention

One technical problem to be solved by the present disclosure is how to simultaneously position the glass during the process of grabbing the glass by the manipulator, so as to ensure that the glass is orderly stacked.

To solve the above technical problems, embodiments of the present disclosure provide a positioning device of a glass stacking apparatus, including: the rack is arranged on a manipulator of the glass stacking device; the sucking disc unit group comprises a plurality of sucking disc units which are distributed on the frame, and the sucking disc units comprise sucking discs which are connected to the frame in a swinging manner; the positioning unit group comprises a plurality of positioning units, the positioning units comprise positioning plates, and the positioning plates of the positioning units are movably arranged on the frame along the transverse direction or the longitudinal direction of the frame so as to adjust the relative position of glass adsorbed on the sucker unit group and the frame; the first monitoring unit group comprises a plurality of laser transmitters which are respectively arranged on the plurality of positioning plates and used for monitoring the relative positions of glass adsorbed on the sucker unit group and a stacking frame of the glass stacking device.

In some embodiments, the system further comprises a second monitoring unit group, wherein the second monitoring unit group comprises a plurality of monitoring units, and the plurality of monitoring units are arranged on the rack and used for respectively monitoring the positions of the plurality of positioning plates on the rack.

In some embodiments, the positioning unit further comprises a cylinder provided on the frame for driving the positioning plate to move.

In some embodiments, the positioning plate is coated with an elastic material that prevents scoring of the glass.

In some embodiments, the suction cup unit further comprises an elastic column, one end of the elastic column is connected to the frame, and the other end of the elastic column is connected to the suction cup.

In some embodiments, the suction cup unit further comprises a spring, wherein the spring is sleeved on the elastic column, one end of the spring is connected with the frame, and the other end of the spring is connected with the suction cup.

In some embodiments, the suction cup unit further comprises a guide sleeve through which the elastic column is connected to the frame.

In some embodiments, the suction cup unit further comprises an air pump in communication with the suction cup.

In some embodiments, the laser emitter comprises a red laser emitter.

On the other hand, the embodiment of the disclosure also provides glass stacking equipment, which comprises a manipulator, a stacking frame and a positioning device of the glass stacking equipment.

According to the technical scheme, the positioning device of the glass stacking device and the glass stacking device are provided, and the positioning device can simultaneously position the glass in the process of grabbing the glass by the manipulator through the sucker unit group, the positioning unit group and the first monitoring unit group, so that the glass stacking is orderly ensured, and meanwhile, the production efficiency is improved; the problem that the glass to be stacked is damaged due to the fact that the positioning plate and the glass to be stacked are in contact collision in the descending process of the manipulator is avoided through the second monitoring unit group; the problem that the glass to be stacked is damaged by scratch when the positioning plate is abutted against the glass to be stacked is avoided through the elastic material; the sucker is connected to the frame in a swinging way through the elastic column; the connection strength of the sucker and the frame is increased through the spring, so that the safety of the glass to be stacked is ensured; the suction cup is convenient to install through the guide sleeve.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.

FIG. 1 is a top view of a positioning device disclosed in an embodiment of the present disclosure;

FIG. 2 is a schematic view of a positioning device according to an embodiment of the present disclosure grasping glass to be stacked;

FIG. 3 is a schematic view of a positioning device disclosed in an embodiment of the present disclosure for placing glass to be stacked;

fig. 4 is a schematic diagram of a suction cup unit disclosed in an embodiment of the present disclosure.

Reference numerals illustrate:

1. a frame; 2. a suction cup unit; 3. a positioning unit; 4. a monitoring unit; 5. glass to be stacked; 6. a manipulator; 7. stacked glass; 8. a laser emitter; 21. a suction cup; 22. an elastic column; 23. a spring; 24. guide sleeve; 31. a cylinder; 32. and (5) positioning the plate.

Detailed Description

Embodiments of the present disclosure are described in further detail below with reference to the drawings and examples. The following detailed description of the embodiments and the accompanying drawings are provided to illustrate the principles of the disclosure and not to limit the scope of the disclosure, which may be embodied in many different forms and not limited to the specific embodiments disclosed herein, but rather to include all technical solutions falling within the scope of the claims.

The present disclosure provides these embodiments in order to make the present disclosure thorough and complete, and fully convey the scope of the disclosure to those skilled in the art. It should be noted that: the relative arrangement of parts and steps, the composition of materials, numerical expressions and numerical values set forth in these embodiments should be construed as exemplary only and not limiting unless otherwise specifically stated.

In the description of the present disclosure, unless otherwise indicated, the meaning of "plurality" is greater than or equal to two; the terms "upper," "lower," "left," "right," "inner," "outer," and the like indicate an orientation or positional relationship merely for convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the devices or elements being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the present disclosure. When the absolute position of the object to be described is changed, the relative positional relationship may be changed accordingly.

Furthermore, the use of the terms first, second, and the like in this disclosure do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The "vertical" is not strictly vertical but is within the allowable error range. "parallel" is not strictly parallel but is within the tolerance of the error. The word "comprising" or "comprises" and the like means that elements preceding the word encompass the elements recited after the word, and not exclude the possibility of also encompassing other elements.

It should also be noted that, in the description of the present disclosure, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the terms in the present disclosure may be understood as appropriate by those of ordinary skill in the art. When a particular device is described as being located between a first device and a second device, there may or may not be an intervening device between the particular device and either the first device or the second device.

All terms used in the present disclosure have the same meaning as understood by one of ordinary skill in the art to which the present disclosure pertains, unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods, and apparatus should be considered part of the specification.

As mentioned in the background art above, the glass stacking apparatus has a problem that glass is not stacked on the stacking rack when stacking is performed by using the manipulator, and therefore, the assistance of the positioning device is needed to avoid the problem that the glass is not stacked, while the stacking device and the positioning method in the prior art can ensure that the glass can be stacked in order in the stacking process, in order to improve the production efficiency, how to simultaneously perform positioning in the process of grabbing the glass by using the manipulator to ensure that the glass is stacked in order is a problem to be considered by those skilled in the art. Therefore, the application provides the positioning device of the glass stacking device and the glass stacking device, and the positioning device can simultaneously position the glass in the process of grabbing the glass by the manipulator through the sucker unit group, the positioning unit group and the first monitoring unit group, so that the production efficiency is improved, and one or more problems in the prior art can be solved.

In order to solve the technical problems set forth above, the present application provides a positioning device of a glass stacking apparatus and a glass stacking apparatus, as shown in fig. 1-3, the positioning device includes: the frame 1, the frame 1 is installed on the manipulator 6 of the glass stacking equipment; the sucking disc unit group comprises a plurality of sucking disc units 2, the sucking disc units 2 are distributed on the frame 1, the sucking disc units 2 comprise sucking discs 21, and the sucking discs 21 are connected to the frame 1 in a swinging manner; the positioning unit group comprises a plurality of positioning units 3, the positioning units 3 comprise positioning plates 32, and the positioning plates 32 of the plurality of positioning units 3 are movably arranged on the frame 1 along the transverse direction or the longitudinal direction of the frame 1 so as to adjust the relative position of glass adsorbed on the sucker unit group and the frame 1; the first monitoring unit group comprises a plurality of laser transmitters 8, and the plurality of laser transmitters 8 are respectively arranged on a plurality of positioning plates 32 and used for monitoring the relative positions of glass adsorbed on the sucker unit group and a stacking frame of the glass stacking device.

Specifically, after the glass 5 to be stacked is processed, the conveying roller way conveys the glass 5 to be stacked to a stacking station, the manipulator 6 of the glass stacking device is started to rotate, the frame 1 is moved to the upper side of the glass 5 to be stacked, the manipulator 6 descends to enable the suckers 21 of the plurality of sucker units 2 to be abutted against the surface of the glass 5 to be stacked, then the sucker 21 vacuuming action is performed to enable the glass 5 to be stacked to be adsorbed on the sucker unit group, the manipulator 6 is rotated to convey the glass 5 to be stacked to the upper side of the stacking frame, and in the conveying process, the positioning plates 32 of the plurality of positioning units 3 move along the transverse direction or the longitudinal direction of the frame 1, so that the plurality of positioning plates 32 are respectively abutted against the side walls of the periphery of the glass 5 to be stacked, and as the suckers 21 are arranged on the frame 1 in a swingable manner, the relative position relation between the glass 5 to be stacked and the frame 1 can be adjusted in the process of being abutted against the side walls of the periphery of the glass. After the glass 5 to be stacked is positioned on the frame 1 and moved to the upper part of the stacking frame, a plurality of laser transmitters 8 are started to emit laser to monitor the position relationship between the glass 5 to be stacked and the stacking frame, when the glass 5 to be stacked is aligned with the stacking frame, the manipulator 6 executes descending action, and in the descending process, a plurality of positioning plates 32 can also be abutted with the peripheral side wall of the stacked glass 7 on the stacking frame, so that the glass can be orderly stacked, when the glass 5 to be stacked is placed on the stacked glass 7, a plurality of suckers 21 stop pumping action, a sucker unit group is separated from the glass 5 to be stacked, and the manipulator 6 is rotated to execute stacking of the next glass 5 to be stacked. Further, the number of the sucking discs 21 can be adjusted according to the size of the glass 5 to be stacked, and the sucking discs 21 can be butterfly-shaped.

Compared with the prior art, the positioning device of the glass stacking equipment provided by the application has the advantages that the positioning can be simultaneously carried out in the process of grabbing glass by the manipulator 6 through the sucker unit group, the positioning unit group and the first monitoring unit group, the glass stacking is orderly ensured, and the production efficiency is improved.

In some embodiments, as shown in fig. 1-2, a second monitoring unit group is further included, the second monitoring unit group including a plurality of monitoring units 4, the plurality of monitoring units 4 each being disposed on the rack 1 for monitoring the positions of the plurality of positioning plates 32 on the rack 1, respectively. When the robot arm 6 descends to grasp the glass 5 to be stacked, if the positioning plate 32 collides with the glass 5 to be stacked, a problem of damaging the glass 5 to be stacked occurs. Therefore, when the manipulator 6 descends to grasp the glass 5 to be stacked, the position relationship between the plurality of positioning plates 32 and the glass 5 to be stacked is monitored by the plurality of monitoring units 4 of the second monitoring unit group, and the position of the positioning plates 32 is adjusted according to the monitoring result, so that the problem that the glass 5 to be stacked is damaged due to contact and collision between the positioning plates 32 and the glass 5 to be stacked in the descending process of the manipulator 6 is avoided.

In some embodiments, the positioning unit 3 further comprises a cylinder 31, the cylinder 31 being provided on the frame 1 for driving the positioning plate 32 to move. The movement of the positioning plate 32 on the frame 1 is achieved by providing the air cylinder 31, in particular the air cylinder 31 being controllable by a control system.

In some embodiments, the positioning plate 32 is coated with an elastomeric material that prevents scoring of the glass. The problem that the positioning plate 32 scratches and damages the glass 5 to be stacked when abutting against the glass 5 to be stacked is avoided by providing the elastic material.

In some embodiments, the suction cup unit 2 further comprises an elastic column 22, wherein one end of the elastic column 22 is connected to the frame 1, and the other end is connected to the suction cup 21. The pivotable connection of the suction cup 21 to the frame 1 is achieved by means of the elastic posts 22.

In some embodiments, the suction cup unit 2 further comprises a spring 23, wherein the spring 23 is sleeved on the elastic column 22, and one end of the spring is connected with the frame 1, and the other end of the spring is connected with the suction cup 21. The spring 23 is arranged to meet the requirement of swinging of the sucker 21, and meanwhile, the connection strength of the sucker 21 and the frame 1 is increased, so that the safety of the glass 5 to be stacked is ensured.

In some embodiments, the suction cup unit 2 further comprises a guide sleeve 24, and the elastic column 22 is connected to the frame 1 through the guide sleeve 24. Specifically, one end of the guide sleeve 24 is provided with a threaded hole, the guide sleeve 24 is connected to the screw of the frame 1 through the threaded hole, the other end of the guide sleeve 24 is connected with the elastic column 22, and the suction disc 21 is conveniently installed through the guide sleeve 24.

In some embodiments, the suction cup unit 2 further comprises an air pump, which is in communication with the suction cup 21. Specifically, the elastic column 22 is provided with a through air hole, one end of the air hole is communicated with the sucker 21, and the other end of the air hole is communicated with the air pump. The suction cup 21 is pumped and deflated by the air pump, so that the suction cup 21 group can be used for completing the actions of adsorbing the glass 5 to be stacked and placing the glass 5 to be stacked on the stacking frame.

In some embodiments, the laser emitter 8 comprises a red laser emitter. The red light emitted by the red laser emitter is convenient for a worker to monitor and identify the position relationship between the glass 5 to be stacked and the stacking frame.

In addition, the application also provides glass stacking equipment which comprises the manipulator 6, the stacking frame and the positioning device of the glass stacking equipment, so that the glass stacking is orderly ensured, the stacking time is saved, and the working efficiency of the glass stacking equipment is improved.

In summary, compared with the prior art, the present disclosure provides a positioning device of a glass stacking apparatus and a glass stacking apparatus, where the positioning device can simultaneously perform positioning in the process of grabbing glass by a manipulator 6 through a sucker unit group, a positioning unit group and a first monitoring unit group, thereby ensuring that the glass stacking is neat and improving the production efficiency; the problem that the glass 5 to be stacked is damaged due to the fact that the positioning plate 32 is in contact with the glass 5 to be stacked in the descending process of the manipulator 6 is avoided through the second monitoring unit group; the problem that the glass 5 to be stacked is damaged by scratch of the positioning plate 32 when the positioning plate is abutted against the glass 5 to be stacked is avoided through the elastic material; the sucker 21 is connected with the frame 1 in a swinging way through the elastic column 22; the connection strength of the sucker 21 and the frame 1 is increased through the spring 23, so that the safety of the glass 5 to be stacked is ensured; the suction cup 21 is conveniently mounted by the guide sleeve 24.

Thus, various embodiments of the present disclosure have been described in detail. In order to avoid obscuring the concepts of the present disclosure, some details known in the art are not described. How to implement the solutions disclosed herein will be fully apparent to those skilled in the art from the above description.

Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It will be understood by those skilled in the art that the foregoing embodiments may be modified and equivalents substituted for elements thereof without departing from the scope and spirit of the disclosure. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict.

Claims

1. A positioning device of a glass stacking apparatus, comprising:

the glass stacking device comprises a frame (1), wherein the frame (1) is arranged on a manipulator (6) of the glass stacking device;

the sucker unit group comprises a plurality of sucker units (2), the sucker units (2) are distributed on the frame (1), the sucker units (2) comprise suckers (21), and the suckers (21) are connected to the frame (1) in a swinging manner;

the positioning unit group comprises a plurality of positioning units (3), the positioning units (3) comprise positioning plates (32), and the positioning plates (32) of the positioning units (3) are movably arranged on the frame (1) along the transverse direction or the longitudinal direction of the frame (1) so as to adjust the relative positions of glass (5) to be stacked and the frame (1) adsorbed on the sucking disc unit group; and

the first monitoring unit group comprises a plurality of laser transmitters (8), and the laser transmitters (8) are respectively arranged on the positioning plates (32) and used for monitoring the relative positions of glass to be stacked (5) and a stacking frame of the glass stacking device, wherein the glass to be stacked (5) and the glass stacking device are adsorbed on the sucking disc unit group.

2. The positioning device of a glass stacking apparatus according to claim 1, further comprising a second monitoring unit group comprising a plurality of monitoring units (4), a plurality of the monitoring units (4) being each provided on the frame (1) for monitoring the positions of a plurality of the positioning plates (32) on the frame (1), respectively.

3. A positioning device of a glass stacking apparatus according to claim 1, characterized in that the positioning unit (3) further comprises a cylinder (31), which cylinder (31) is arranged on the frame (1) for driving the positioning plate (32) to move.

4. The positioning device of a glass stacking apparatus according to claim 1, wherein the positioning plate (32) is coated with an elastic material for preventing glass from being scratched.

5. The positioning device of a glass stacking apparatus according to claim 1, wherein the suction cup unit (2) further comprises an elastic column (22), one end of the elastic column (22) is connected to the frame (1), and the other end is connected to the suction cup (21).

6. The positioning device of a glass stacking apparatus according to claim 5, wherein the suction cup unit (2) further comprises a spring (23), the spring (23) is sleeved on the elastic column (22), one end of the spring is connected with the frame (1), and the other end of the spring is connected with the suction cup (21).

7. The positioning device of a glass stacking apparatus according to claim 6, characterized in that the suction cup unit (2) further comprises a guide sleeve (24), the elastic column (22) being connected to the frame (1) by means of the guide sleeve (24).

8. The positioning device of a glass stacking apparatus according to claim 7, wherein the suction cup unit (2) further comprises an air pump, which is in communication with the suction cup (21).

9. A positioning device of a glass stacking apparatus according to claim 1, characterized in that the laser emitter (8) comprises a red laser emitter.

10. Glass stacking apparatus comprising a robot (6) and a stacker frame, and a positioning device for a glass stacking apparatus according to any one of claims 1 to 9.