CN206418018U - A kind of glass of Dual-robot coordination operation breaks piece system - Google Patents

Abstract

The utility model discloses a glass breaking system for coordinated operation of double robots, which comprises a glass original piece input platform, a glass piece breaking platform, a glass slice output platform and a glass waste piece output platform; the glass original piece input platform and the glass slice The output platforms are respectively arranged at both ends of the glass breaking table; the glass breaking table is provided with a breaking robot, a tape-out robot and two robot slide rails, and the chip-breaking robot and the tape-out robot are respectively installed on on one of the robot slide rails. The glass breaking system of the double-robot coordinated operation uses the breaking robot to break the original glass sheet with the cutting line and transports the broken glass slices to the glass slice output station through the tape-out robot, so as to realize breaking and cutting. The tape-out is automated, and the chip-breaking robot can automatically align the cutting line without manual operation, reducing the manual input of chip breaking, and improving the efficiency and stability of chip breaking.

Description

A glass breaking system with coordinated operation of two robots

technical field

The utility model relates to the field of glass breaking equipment, in particular to a glass breaking system with double-robot coordinated operations.

Background technique

In the process of glass processing, it is usually necessary to go through a breaking process after cutting to separate the cut glass into required sizes and shapes. Existing glass breaking is that glass is placed on the glass breaking machine. The glass breaking machine is equipped with a ejector pin and a fixing member. During operation, it is usually necessary to manually move the glass to be broken to align the cutting line with the ejector pin of the glass breaking machine, and then the fixing member acts on the upper surface of the glass to fix the glass, and then The ejector rod under the glass moves upward to push away the glass on the left and right sides of the cutting line, so that the glass to be broken is separated. Therefore, when the existing glass breaking machine works, the force acts on the upper and lower surfaces of the glass respectively, which belongs to the double working plane. The glass breaking machine is fixed at one position, and the glass needs to be moved every time a cutting line is broken, and the breaking efficiency Low. Moreover, there are usually more than one cutting line for a piece of raw glass, and it is also divided into horizontal cutting lines and longitudinal cutting lines. When breaking all the cutting lines in sequence on a glass breaking machine, it is necessary to continuously move the original piece of glass so that the cutting lines are aligned with the ejector pins. This process consumes a lot of time and manpower. Moreover, there is a large error in manual alignment, and it is easy to cause damage to the glass due to the deviation of the breaking position, and the quality and stability of the breaking pieces are poor. Moreover, the assembly-line operation platform occupies a large area, and completing one operation step requires detours, which directly reduces the production efficiency of the enterprise and restricts the production of the enterprise.

Utility model content

The purpose of this utility model is to propose a dual-robot coordinated operation system that can save the occupied area and can automatically align the cutting line and automatically break the pieces without moving the position of the glass when breaking the pieces, improving the efficiency and stability of the pieces. Glass breaking system.

For this purpose, the utility model adopts the following technical solutions:

A glass breaking system with coordinated operation of two robots, including a glass raw piece input platform, a glass breaking platform, a glass slice output platform and a glass waste output platform;

The original glass sheet input platform and the glass slice output platform are respectively arranged at the two ends of the glass breaking platform;

The glass breaking table is provided with a chip breaking robot, a tape-out robot and two robot slide rails, and the chip-breaking robot and the tape-out robot are respectively installed on one of the robot slide rails; the two robot slide rails Arranged in parallel, the length of the robot slide rail ensures that the chip breaking robot and the tape-out robot can be extended to the glass original sheet input platform and the glass slice output platform;

The glass waste output platform is set within the stretching range of the tape-out robot of the glass breaking platform;

The tape-out robot includes a robot body and a tape-out actuator, the tape-out actuator includes a tape-out vacuum chuck, and the tape-out vacuum chuck is installed on the output shaft of the robot body;

The chip-breaking robot includes the robot body and the chip-breaking actuator, and the chip-breaking actuator includes a chip-breaking control hydraulic cylinder, a chip-breaking power push rod, a chip-breaking connection mounting frame, a chip-breaking lever, and two glass graspers module;

The piece-breaking control hydraulic cylinder is installed on the output shaft of the robot body, the upper end of the piece-breaking power push rod is connected with the piston rod of the piece-breaking control hydraulic cylinder, and the lower end of the piece-breaking power push rod is connected to the The top surface of the breaking bar is connected, and the breaking power push rod and the breaking bar are perpendicular to each other;

The upper end of the snap-off connection mounting frame is connected to the snap-off control hydraulic cylinder, the central axis of the snap-off connection mounting frame coincides with the central axis of the snap-off control hydraulic cylinder; the snap-off connection mounting frame is a hollow structure , the breaker power push rod passes through the inside of the breaker connection installation frame and is connected to the breaker rod, and the two glass grabbing modules are symmetrically arranged on both sides of the breaker connection installation frame;

The glass grabbing module includes a rigid connecting rod, a rigid connecting block, a rigid rocker, a sheet-breaking suction cup mounting plate and a sheet-breaking vacuum suction cup; the middle part of the rigid rocker is provided with a rigid branch rod; the rigid The power end of the rigid rocker is hinged to the mounting frame for breaking the blade, the power end of the rigid connecting rod is hinged to the upper end of the power push rod for breaking the blade, and the swing end of the rigid connecting rod is hinged to the end of the rigid branch rod. ;

The chip-breaking vacuum suction cup is arranged at the bottom of the chip-breaking suction cup mounting plate, and the top of the chip-breaking suction cup mounting plate is fixedly connected by the rigid connection block and the suction cup end of the rigid rocker;

The bottom of the breaking rod is a sharp angle.

Preferably, the glass grabbing module further includes a connecting block and a rigid auxiliary rod, the connecting block is sleeved in the middle of the breaking piece power push rod, and the power end of the rigid auxiliary rod is hinged to the connecting block, The suction cup end of the rigid auxiliary rod is hinged to the suction cup end of the rigid rocker.

Preferably, the breaker lever is a triangular prism structure, the breaker lever includes a push rod connecting surface, a first breaking surface and a second breaking surface, and the push rod connecting surface, the first breaking surface and the second breaking surface The three sides of the breaker lever in a triangular prism structure are connected end to end, the lower end of the power push rod is connected to the push rod connection surface of the breaker lever, and the first breaker surface and the second breaker surface are formed. breaking angle;

The breaking angle is 50°-70°.

Preferably, the tape-out actuator includes a tape-out control hydraulic cylinder, a tape-out power push rod, a tape-out connection mounting bracket, and a tape-out suction cup mounting plate, and the tape-out control hydraulic cylinder is installed on the output shaft of the robot body ;

The upper end of the tape-out power push rod is connected to the piston rod of the tape-out control hydraulic cylinder, the lower end of the tape-out power push rod is connected to the top surface of the tape-out suction cup mounting plate, and the tape-out vacuum suction cup is installed on The bottom surface of the tape-out suction cup mounting plate;

The top surface of the tape-out connection mounting frame is connected to the tape-out control hydraulic cylinder, the tape-out connection mounting frame is a hollow structure, and the tape-out power push rod passes through the inside of the tape-out connection mounting frame and The tape-out suction cup is attached to the mounting plate.

Preferably, the robot body includes a base, a rotating platform and a mechanical arm, the base is movably clamped on the slide rail of the robot, the rotating platform is installed on the base, and the mechanical arm is installed on the rotating platform , the rotating table drives the mechanical arm to rotate;

The mechanical arm includes a lower limb arm driving motor, a lower limb arm, an upper limb arm, a connecting shaft driving motor, a limb connecting shaft, a forelimb arm driving motor, a forelimb arm, and an actuator mounting flange;

The driving motor of the lower limb arm is installed on the rotary table, the lower end of the lower limb arm is connected to the output shaft of the driving motor of the lower limb arm, and the driving motor of the lower limb arm drives the lower limb arm to swing up and down;

The connecting shaft of the limb arm is connected to the output shaft of the connecting shaft drive motor, and the connecting shaft drives the motor to drive the connecting shaft of the limb arm to rotate;

The upper end of the lower limb arm is hinged with the upper limb arm through the limb connecting shaft;

The forelimb arm driving motor is installed on the upper limb arm, the front end of the forelimb arm is connected to the output shaft of the forelimb arm driving motor, and the forelimb arm driving motor drives the forelimb arm to move back and forth;

The actuator mounting flange is mounted on the end of the forelimb arm;

For the chip breaking robot, the chip breaking control hydraulic cylinder is installed on the forelimb arm through the actuator mounting flange, and the chip breaking control hydraulic cylinder and the forelimb arm are perpendicular to each other;

For the tape-out robot, the tape-out control hydraulic cylinder is installed on the forelimb arm through the actuator mounting flange, and the tape-out control hydraulic cylinder and the forelimb arm are perpendicular to each other.

Preferably, it also includes a plurality of air flotation plates, and the original glass sheet input platform, the glass breaking platform, the glass slice output platform and the glass waste output platform are all provided with the air flotation plates;

The air flotation plate is provided with a plurality of air flotation holes, and the air flotation holes are distributed on the air flotation plate in an array;

It also includes a plurality of glass conveyor belts. The glass original sheet input platform, the glass slice output platform and the glass waste output platform are all equipped with the glass conveyor belts, and a glass conveyor belt is arranged between two adjacent air floating plates.

The glass slicing system of the double-robot coordinated operation breaks the original glass sheet with the cutting line by the slicing robot and transports the broken glass slices to the glass slicing output station by the tape-out robot, so as to realize the breaking and The tape-out is automated, and the chip-breaking robot can automatically align the cutting line without manual operation, reducing the manual input of chip breaking, and improving the efficiency and stability of chip breaking. The tape-out robot transports the broken glass slices whose size and shape meet the production requirements to the glass slice output table, and transports the glass waste slices to the glass waste output table, so as to realize the automatic classification and discharge of the glass slices and prevent the glass waste from Enter the next processing procedure. For glass original sheets with multiple vertical and horizontal cutting lines, the breaker robot does not need to move the position of the glass on the glass breaker table, only by moving the position of the breaker actuator to cut the original glass sheet Breaking pieces, without manual operation, reduces the manual input of breaking pieces, improves the efficiency and flexibility of breaking pieces.

Description of drawings

The accompanying drawings further illustrate the utility model, but the content in the accompanying drawings does not constitute any limitation to the utility model.

Fig. 1 is a schematic structural diagram of a glass breaking system according to one embodiment of the present invention;

Fig. 2 is a top view of the glass breaking system of one embodiment of the present invention;

Fig. 3 is a structural schematic diagram of a tape-out robot according to one embodiment of the present invention;

Fig. 4 is a schematic structural diagram of a tape-out actuator according to one embodiment of the present invention;

Fig. 5 is a schematic structural diagram of a chip breaking robot according to one embodiment of the present invention;

Fig. 6 is a schematic structural diagram of a blade breaking actuator according to one embodiment of the present invention;

Fig. 7 is a front view of the blade breaking actuator according to one embodiment of the present invention;

Fig. 8 is a cross-sectional view of the breaker lever in one embodiment of the present invention;

Fig. 9 is a schematic diagram of the working principle of the blade breaking actuator according to one embodiment of the present invention.

Among them: glass original sheet input station 1; glass breaking table 2; robot body 3; sheet breaking robot 5; tape-out robot 6; robot slide rail 4; glass slice output table 7; tape-out actuator 61; tape-out vacuum chuck 614; breaking piece actuator 51; breaking piece control hydraulic cylinder 511; breaking piece power push rod 512; breaking piece connection installation frame 521; breaking piece lever 513; stiff connecting rod 516; stiff connection block 518; stiff rocker 517; snap-off suction cup mounting plate 519; snap-off vacuum sucker 510; connecting block 514; rigidity auxiliary rod 515; push rod connecting surface 5131; Control hydraulic cylinder 611; tape-out power push rod 612; tape-out connection mounting frame 614; tape-out suction cup mounting plate 613; glass waste output table 9; base 31; rotary table 32; lower limb arm drive motor 33; lower limb arm 34 ; upper limb arm 35; limb arm connecting shaft 36; forelimb arm driving motor 37; forelimb arm 38; actuator mounting flange 39; .

detailed description

The technical scheme of the utility model will be further described below in conjunction with the accompanying drawings and through specific embodiments.

The double-robot coordinated glass breaking system of this embodiment, as shown in Figure 1 and Figure 2, includes a glass original sheet input platform 1, a glass breaking platform 2, a glass slice output platform 7 and a glass waste output platform 9;

The original glass sheet input platform 1 and the glass slice output platform 7 are respectively arranged at the two ends of the glass breaking platform 2;

The glass breaking table 2 is provided with a chip breaking robot 5, a tape-out robot 6 and two robot slide rails 4, and the chip-breaking robot 5 and the tape-off robot 6 are respectively installed on one robot slide rail 4; The two robot slide rails 4 are arranged in parallel, and the length of the robot slide rails 4 ensures that the chip breaking robot 5 and the tape-out robot 6 can be extended to the glass original sheet input platform 1 and the glass slice output platform 7;

The glass waste sheet output platform 9 is arranged within the stretching range of the tape-out robot 6 of the glass breaking platform 2;

As shown in Figure 3, the tape-out robot 6 includes a robot body 3 and a tape-out actuator 61, and the tape-out actuator 61 includes a tape-out vacuum chuck 614, and the tape-out vacuum chuck 614 is installed on the robot body 3 output shafts;

As shown in Figure 5, the chip breaking robot 5 includes the robot body 3 and a chip breaking actuator 51, and the chip breaking actuator 51 includes a chip breaking control hydraulic cylinder 511, a chip breaking power push rod 512, and a chip breaking connection Mounting frame 521, breaking bar 513 and two glass grasping modules;

As shown in Fig. 6, the said breaking piece control hydraulic cylinder 511 is installed on the output shaft of said robot body 3, and the upper end of said breaking piece power push rod 512 is connected with the piston rod of said piece breaking control hydraulic cylinder 511, so The lower end of the breaking piece power push rod 512 is connected to the top surface of the breaking piece lever 513, and the breaking piece power push rod 512 and the breaking piece lever 513 are perpendicular to each other;

As shown in FIG. 7 , the upper end of the snap-off connection mounting frame 521 is connected to the snap-off control hydraulic cylinder 511, and the central axis of the snap-off connection mounting frame 521 coincides with the central axis of the snap-off control hydraulic cylinder 511; The breaker connection installation frame 521 is a hollow structure, the breaker power push rod 512 passes through the interior of the breaker connection installation frame 521 and is connected to the breaker rod 513, and the two glass grabbing modules are symmetrical are arranged on both sides of the snap-off connection mounting frame 521;

As shown in Figure 7, the glass grasping module includes a rigid connecting rod 516, a rigid connecting block 518, a rigid rocker 517, a sheet-breaking suction cup mounting plate 519 and a sheet-breaking vacuum suction cup 510; the rigid rocker The middle part of 517 is provided with rigidity branch rod 201; The power end of described rigidity rocker 517 is hinged with breaking piece connection installation frame 521, and the power end of described rigidity connecting rod 516 is hinged with the upper end of breaking piece power push rod 512, The swing end of the rigid link 516 is hinged to the end of the rigid branch rod 201;

The vacuum suction cup 510 for breaking pieces is arranged on the bottom of the suction cup mounting plate 519 for breaking pieces, and the top of the suction cup mounting plate 519 for breaking pieces is fixedly connected by the suction cup end of the rigid connection block 518 and the rigid rocker 517;

The bottom of the breaker lever 513 is sharp.

The glass breaking system of the double-robot coordinated operation breaks the original glass sheet with the cutting line 91 through the breaking robot 5 and transports the broken glass slices to the glass slice output platform 7 through the tape-out robot 6 . Realize the automation of chip breaking and film streaming, and the chip breaking robot 5 can automatically align with the cutting line 91 without manual operation, reduce the manual input of chip breaking, and improve the efficiency and stability of chip breaking.

The original glass sheet input station 1 is used to transport the original glass sheet with cutting line 91 to the glass breaking station 2, and the breaking process of the glass original sheet is completed at the glass breaking station 2. The chip breaking robot 5 and the tape-out robot 6 move on the glass breaking table 2 through the robot slide rail 4, so as to carry the glass. The whole operation process does not need to manually carry the glass, which reduces labor input and improves production efficiency. The tape-out robot 6 is provided with a tape-out vacuum chuck 614, and the glass slice is grasped by the tape-out vacuum chuck 614 to carry the glass slice. The waste glass output table 9 is used for outputting glass slices whose size and shape do not meet the production requirements after being broken, that is, glass waste. The tape-out robot 6 transports the broken glass slices whose size and shape meet the production requirements to the glass slice output platform 7, and transports the glass waste pieces to the glass waste output platform 9, thereby realizing the automatic sorting and discharging of the glass slices, preventing The waste glass goes into the next processing procedure.

The chip-breaking robot 5 controls the movement of the chip-breaking actuator 51 through the robot body 3, and the chip-breaking actuator 51 controls the telescopic movement of the piston rod of the hydraulic cylinder 511 through the chip-breaking, driving the chip-breaking power push rod 512 connected to the chip-breaking robot. The sheet rod 513 moves up and down, and the bottom of the sheet breaking rod 513 is a sharp angle, which increases the pressure on the original glass sheet for breaking the original glass sheet. The central axis of the piece-breaking connection mounting frame 521 coincides with the central axis of the piece-breaking control hydraulic cylinder 511, and the two glass grabbing modules are symmetrically arranged on both sides of the piece-breaking connection mounting frame 521, so that when the pieces are broken, they will be broken. The force of sheet bar 513 on the two pieces of glass on the left and right sides of cutting line 91 is all the same no matter the size or direction, so as to avoid damaging the glass due to different forces. The middle part of the rigid rocker 517 is provided with a rigid branch rod 201, so that the rigid connecting rod 516 passes through the rigid branch rod 201. 517 is supported, so that the rigid rocker 517 is tilted upward around one end of itself, so that the rigid rocker 517 drives the piece-breaking suction cup mounting plate 519 connected to it to move upward.

Before the breaking operation, the original glass sheet can be turned over so that the opening of the cutting line 91 of the glass is downward, so that the breaking bar 513 acts on the upper part of the opening of the cutting line 91 when breaking the piece, and it is easier to break the glass; then, Place the original glass sheet on the glass breaking table 2.

During the breaking operation, the robot body 3 of the breaking robot 5 drives the breaking actuator 51 to move to the top of the glass, and the breaking rod 513 is aligned with the cutting line 91 of the original glass sheet; then, the breaking actuator 51 moves down and Absorb the original glass sheet firmly by breaking the vacuum suction cup 510;

Next, as shown in Figure 9, after the breaking piece actuator 51 moves up to a certain height, the breaking piece control hydraulic cylinder 511 drives the breaking piece power push rod 512 to extend downward, and as the piece breaking power push rod 512 moves downward Moving, the breaker lever 513 moves downward and contacts the original glass sheet, and the breaker lever 513 generates a downward force F1 on the glass original sheet at the cutting line 91 position of the glass original sheet; at the same time, The stiff rocker 517 and the stiff connecting rod 516 hinge produce an obliquely upward force F2, and the stiff rocker 517 generates an obliquely upward force F2 to the snap-off suction cup mounting plate 519 through the stiff connecting block 518 force. Since the breaker bar 513 and the glass original sheet are in contact at this moment and cannot continue to move downward, the breaker suction cup mounting plate 519 cannot move upward but moves outward horizontally, so that the glass original sheet is subjected to a downward movement at the cutting line 91. At the same time, the original glass sheet is subjected to a horizontal outward force F3 on both sides of the cutting line 91, and then the original glass sheet is broken under the action of the active forces F1 and F3;

Finally, the chip breaking robot 5 puts the glass slices formed after the breaking into the glass breaking table 2 .

As can be seen from the above steps of breaking the pieces, for the original glass pieces with a plurality of cutting lines 91 with different vertical and horizontal dimensions, the breaking robot 5 realizes that the position of the glass on the glass breaking table 2 does not need to be moved, and only by moving the pieces The position of the actuator 51 can break the original glass sheet without manual operation, which reduces the manual input for breaking the pieces, and improves the breaking efficiency and flexibility of breaking the pieces. And the whole breaking operation is completed in the air, the robot body 3 drives the breaking actuator 51 to move freely in the air, and the broken glass is returned to its original position, thereby greatly reducing the space required for breaking the pieces and improving the space utilization rate. The chip breaking robot 5 always acts on the upper surface of the original glass sheet during the chip breaking operation, which belongs to a single operation plane, so that there is no need to move the original glass sheet at the position of the glass chip breaking table 2, only by moving the position of the chip breaking actuator 51 The glass can be broken. Moreover, only one power source (the breaking control hydraulic cylinder 511) can generate a downward force F1 and two horizontal outward forces F3 on the original glass sheet at the same time, saving power consumption and making the structure more compact , and the movements are kept synchronized to improve the breaking ability.

Preferably, as shown in Fig. 6 and Fig. 7, the glass grabbing module further includes a connecting block 514 and a rigidity auxiliary rod 515, and the connecting block 514 is sleeved in the middle of the breaking power push rod 512, so that The power end of the rigid auxiliary rod 515 is hinged to the connecting block 514, and the suction cup end of the rigid auxiliary rod 515 is hinged to the suction cup end of the rigid rocker 517.

During the chip breaking operation, when the chip breaking control hydraulic cylinder 511 drives the chip breaking power push rod 512 to extend downward, the rigidity auxiliary rod 515 moves around its own power end as the chip breaking power push rod 512 moves down. Tilt up. Because the suction cup end of the rigid auxiliary rod 515 and the suction cup end of the rigid rocker 517 are hinged, the rigid auxiliary rod 515 and the rigid rocker 517 are tilted up synchronously during the downward movement of the power push rod 512 , so that the rigid auxiliary rod 515 and the rigid rocker 517 together generate an oblique upward force F3 on the piece-breaking suction cup mounting plate 519 connected thereto, thus greatly improving the force of the breaking-piece suction cup mounting plate 519 on the glass, It is easier to break the glass; it also reduces the fatigue strength of the glass grabbing module and increases the service life of the glass grabbing module.

Preferably, as shown in FIG. 8 , the breaker lever 513 is a triangular prism structure, and the breaker lever 513 includes a push rod connection surface 5131 , a first breaker surface 5132 and a second breaker surface 5133 , and the push rod connects The surface 5131, the first breaking surface 5132 and the second breaking surface 5133 are connected end to end to form three sides of the breaking lever 513 in a triangular prism structure, and the lower end of the power push rod 16 is connected to the push rod of the breaking lever 513 The surfaces 5131 are connected, and a breaking angle A is formed between the first breaking surface 5132 and the second breaking surface 5133; the breaking angle A is 50°-70°.

The breaking rod 513 is a triangular prism structure, and a breaking angle A is formed between the first breaking surface 5132 and the second breaking surface 5133, so that the contact area between the breaking rod 513 and the glass original sheet is relatively small when breaking the pieces. Correspondingly, the force F1 of the breaking rod 513 on the original glass is greater, and the glass is easier to break. The smaller the breaking angle A is, the greater the force F1 of the breaking lever 513 on the glass is, and the breaking angle A is preferably 60°, so that the effect of the breaking lever 513 on the glass during breaking is The force F1 is obliquely downward. According to the principle of force decomposition, the breaking rod 513 not only generates a vertical downward component force on the original glass sheet, but also generates a horizontal outward component force on the original glass sheet, thereby improving The breaking strength is improved, and the glass is easier to break.

Preferably, as shown in FIG. 4 , the tape-out actuator 61 includes a tape-out control hydraulic cylinder 611 , a tape-out power push rod 612 , a tape-out connection mounting frame 614 and a tape-out suction cup mounting plate 613 , and the tape-out control The hydraulic cylinder 611 is installed on the output shaft of the robot body 3; the upper end of the tape-out power push rod 612 is connected with the piston rod of the tape-out control hydraulic cylinder 611, and the lower end of the tape-out power push rod 612 is connected with the flow rod. The top surface of the sheet suction cup mounting plate 613 is connected, and the flow sheet vacuum suction cup 614 is installed on the bottom surface of the flow sheet suction cup mounting plate 613; the top surface of the flow sheet connection mounting frame 614 is connected with the flow sheet control hydraulic cylinder 611, The tape-out connection mounting frame 614 is a hollow structure, and the tape-out power push rod 612 passes through the tape-out connection mounting frame 614 and is connected to the tape-out suction cup mounting plate 613 . The tape-out actuator 61 is provided with a tape-out control hydraulic cylinder 611, through the telescopic movement of the piston rod of the tape-out control hydraulic cylinder 611, the tape-out sucker mounting plate 613 connected with the tape-out power push rod 612 is driven to move up and down, so as to facilitate The tape-out vacuum chuck 614 installed on the tape-out suction cup mounting plate 613 sucks the glass to complete the tape-out operation.

Preferably, as shown in FIG. 5, the robot body 3 includes a base 31, a rotating table 32 and a mechanical arm, the base 31 is movably engaged on the robot slide rail 4, and the rotating table 32 is mounted on the On the base 31, the mechanical arm is mounted on a turntable 32, and the turntable 32 drives the mechanical arm to rotate;

Described mechanical arm comprises lower limb arm driving motor 33, lower limb arm 34, upper limb arm 35, connecting shaft driving motor, limb connecting shaft 36, forelimb arm driving motor 37, forelimb arm 38 and actuator mounting flange 39;

The lower limb arm drive motor 33 is installed on the rotary table 32, the lower end of the lower limb arm 34 is connected to the output shaft of the lower limb arm drive motor 33, and the lower limb arm drive motor 33 drives the lower limb arm 34 to swing up and down;

The limb arm connecting shaft 36 is connected to the output shaft of the connecting shaft driving motor, and the connecting shaft driving motor drives the limb connecting shaft 36 to rotate;

The upper end of the lower limb arm 34 is hinged by the limb arm connecting shaft 36 and the upper limb arm 35;

The forelimb arm driving motor 37 is installed on the upper limb arm 35, the front end of the forelimb arm 38 is connected with the output shaft of the forelimb arm driving motor 37, and the forelimb arm driving motor 37 drives the forelimb arm 38 to move back and forth;

The actuator mounting flange 39 is installed on the end of the forelimb arm 38;

For the chip breaking robot 5, the chip breaking control hydraulic cylinder 511 is installed on the forelimb arm 38 through the actuator mounting flange 39, and the chip breaking control hydraulic cylinder 511 and the forelimb arm 38 are perpendicular to each other;

For the tape-out robot 6 , the tape-out control hydraulic cylinder 611 is installed on the forelimb arm 38 through the actuator mounting flange 39 , and the tape-out control hydraulic cylinder 611 and the forelimb arm 38 are perpendicular to each other.

The robot body 3 is movably clamped on the robot slide rail 4 through the base 31 , and the inside of the base 31 is provided with a driving motor, which is used to increase the power for the sliding of the base 31 . The rotating table 32 drives the mechanical arm to rotate, thereby driving the breaking actuator 51 or the tape-out actuator 61 to rotate, and the rotation angle is 0°-360°. For the chip breaking robot 5, since the cutting lines 91 on the original glass sheet are different in vertical and horizontal directions, the chip breaking robot 5 drives the chip breaking actuator 51 to rotate through the rotating table 32 when breaking the glass, so that the glass can be moved without moving the glass. The position of the breaking actuator 51 can realize the alignment between the breaking rod 513 and the cutting line 91 of the original glass sheet, which improves breaking efficiency and flexibility. For the tape-out robot 6, since the positions of the glass slice output table 7, the glass waste sheet output table 9 and the glass breaking table 2 are not on the same horizontal line, the tape-out robot 6 drives the tape-out actuator through the rotary table 32 when discharging. 61 to rotate, so as to move the glass to the corresponding output platform, so as to realize the classification and discharge; moreover, the tape-out robot 6 prevents collision with the chip-breaking robot 5 during discharge by rotating the tape-out actuator 61, so as to realize two robots coordination work.

The lower limb arm driving motor 33 drives the lower limb arm 34 to swing up and down, thereby driving the breaking piece actuator 51 or the tape out actuator 61 to move up and down, so that the piece breaking actuator 51 or the tape out actuator 61 can be removed. Put glass. The connecting shaft drives the motor to drive the arm connecting shaft 36 to rotate, thereby driving the breaking actuator 51 or the tape-out actuator 61 to swing back and forth, and then tilting the blade-breaking actuator 51 or the tape-out actuator 61, when the glass is placed When on an inclined plane or an uneven table, the actuator 51 or the actuator 61 can be driven by the connecting shaft 36 of the limb arm to tilt to the same angle as the glass, so that it can fully contact the glass surface when sucking the glass, avoiding the Insufficient contact makes it impossible to absorb the glass firmly during suction, which improves the safety and reliability of operation.

The forelimb arm driving motor 37 drives the forelimb arm 38 to move back and forth, thereby driving the sheet breaking actuator 51 or the tape out actuator 61 to move back and forth, expanding the working range, realizing the operation on large-sized glass, and increasing the scope of application. The piece-breaking control hydraulic cylinder 511 or the piece-flow control hydraulic cylinder 611 is installed on the forelimb arm 38 through the actuator mounting flange 39, that is, the whole piece-breaking actuator 51 or the piece-flow actuator 61 is installed through the actuator installation method. Lan 39 is installed on forelimb arm 38, is connected reliably, and is convenient for installation and disassembly.

The sheet-breaking control hydraulic cylinder 511 or the sheet-feeding control hydraulic cylinder 611 and the forelimb arm 38 are perpendicular to each other, and then the sheet-breaking lever 513 or the sheet-flowing vacuum suction cup 614 and the forelimb arm 38 are kept parallel to facilitate control of the sheet-breaking lever 513 or the sheet-flowing vacuum The operating angle of the suction cup 614, that is, only need to control the swing angle of the forelimb arm 38 through the limb-arm connecting shaft 36 to control the breaking angle of the breaking lever 513 and the glass suction angle of the vacuum suction cup 614. Usually, the table top of the glass breaking table 2 is kept horizontal, so that only the forelimb arm 38 needs to be controlled to keep the level, which can ensure that the breaking rod 513 remains horizontal and fits with the cutting line 91 of the original glass sheet, and ensures that the tape-off vacuum suction cup 614 and The surface of the glass slice is fully contacted and the glass slice is sucked firmly. The quantity of the vacuum chuck 614 and the vacuum chuck 510 can be determined according to the size of the glass. The larger the size of the glass, the more the vacuum chuck 614 and the vacuum chuck 510 are, so as to improve the gripping of the glass. Ability.

Preferably, as shown in Fig. 1 and Fig. 2, a plurality of air flotation plates 21 are also included. There is the air flotation plate 21; the air flotation plate 21 is provided with a plurality of air flotation holes 211, and the air flotation holes 211 are distributed on the air flotation plate 21 in an array; it also includes a plurality of glass conveyor belts 11, the The glass conveyor belt 11 is provided on the original glass sheet input platform 1 , the glass slice output platform 7 and the glass waste output platform 9 , and a glass conveyor belt 11 is arranged between two adjacent air floating plates 21 .

The glass conveyor belt 11 is provided on the original glass input platform 1 , the glass slice output platform 7 and the glass waste output platform 9 for automatic feeding and discharging of glass. The original glass sheet input platform 1, the glass breaking platform 2, the glass slice output platform 7 and the glass waste output platform 9 are all equipped with the air floating plate 21, and the air floating plate 21 blows air upwards through the air floating holes 211 during operation. , so that the glass is suspended under the action of the airflow; one is to prevent the original glass sheet from being transported from the glass original sheet input table 1 to the glass breaking table 2 during the process of rubbing against the work table to produce marks or scratches, and to improve the finished product of the glass. The second is to prevent the breaker robot 5 and the tape-out robot 6 from breaking the glass due to excessive impact on the glass when picking and placing the glass, and play a buffering and protective role on the glass.

The glass breaking system of the double-robot coordinated operation realizes the automation of glass feeding, breaking, screening and sorting, and discharging, greatly reduces manual input, improves glass processing efficiency, and coordinates between the breaking robot 5 and the tape-out robot 6 operation, the quality and stability of breaking pieces are high, and the operation is safe and reliable. The tape-out robot 6 transports the broken glass slices whose size and shape meet the production requirements to the glass slice output platform 7, and transports the glass waste pieces to the glass waste output platform 9, thereby realizing the automatic sorting and discharging of the glass slices, preventing The waste glass goes into the next processing procedure.

The breaking piece operation of described piece breaking robot 5 comprises the following steps:

Step 1, the breaking robot 5 drives the breaking actuator 51 to move to the top of the original glass sheet to be broken, and the breaking rod 17 of the breaking robot 5 is aligned with the cutting line 91 of the original glass piece to be broken;

Step 2, the chip breaking robot 5 drives the chip breaking actuator 51 to move down until the chip breaking vacuum chuck 510 contacts the original glass sheet to be broken;

Step 3, the piece-breaking vacuum chuck 510 absorbs the original glass sheet to be broken, and then the piece-breaking robot 5 drives the piece-breaking actuator 51 to move upward;

Step 4, the breaker control hydraulic cylinder 511 drives the breaker lever 513 to move downward until the original glass piece to be broken is broken apart to form a glass slice;

Step 5, the breaker control hydraulic cylinder 511 drives the breaker lever 513 to move upward to the original position;

Step 6, the chip breaking robot 5 drives the chip breaking actuator 51 to move down until the glass slice is placed on the glass breaking table 2, and then the chip breaking vacuum chuck 510 is separated from the glass slice.

The original glass sheet can be broken only by moving the position of the breaking actuator 51, without manual operation, which reduces the manual investment in breaking the piece, and improves the breaking efficiency and flexibility of breaking the glass. And the whole chip breaking operation is completed in the air, the chip breaking robot 5 drives the chip breaking actuator 51 to move freely in the air, and the broken glass is returned to the original position, thereby greatly reducing the space required for chip breaking and improving space utilization. The chip breaking robot 5 always acts on the upper surface of the original glass sheet during the chip breaking operation, which belongs to a single operation plane, so that it is not necessary to move the original glass sheet at the position of the glass chip breaking table 2, only by moving the position of the chip breaking actuator 51 The glass can be broken.

The technical principles of the present utility model have been described above in conjunction with specific embodiments. These descriptions are only for explaining the principle of the utility model, and cannot be construed as limiting the protection scope of the utility model in any way. Based on the explanations herein, those skilled in the art can think of other specific implementations of the present utility model without creative work, and these forms will all fall within the protection scope of the present utility model.

Claims (6)

1. a kind of glass of Dual-robot coordination operation breaks piece system, it is characterised in that：Broken including original sheet glass input table, glass Piece platform, glass slice output table and glass waste paper output table；

The original sheet glass input table and glass slice output table are respectively arranged at the two ends of the glass severing table；

Severing machine device people, flow robot and Liang Tiao robots slide rail, the severing machine device are provided with the glass severing table People and flow robot are each installed on a robot slide rail；Two the robot slide rail be arranged in parallel, described The length of robot slide rail ensure the severing machine device people and flow robot can be stretched over the original sheet glass input table and Glass slice output table；

The glass waste paper output table is arranged in the extending range of the flow robot of the glass severing table；

The flow robot includes robot body and flow actuator, and the flow actuator includes flow vacuum cup, The flow vacuum cup is installed on the output shaft of the robot body；

The severing machine device people includes the robot body and breaks piece actuator, and the piece actuator of breaking includes breaking piece control liquid Cylinder pressure, break piece power push-rod, break piece connection mounting bracket, break piece bar and two glass handling modules；

It is described to break the output shaft that piece control hydraulic cylinder is arranged on the robot body, the upper end for breaking piece power push-rod and institute State the piston rod connection for breaking piece control hydraulic cylinder, the lower end for breaking piece power push-rod and the top surface connection for breaking piece bar, institute State to break piece power push-rod and break piece bar and be mutually perpendicular to；

The upper end for breaking piece connection mounting bracket and the piece control hydraulic cylinder of breaking are connected, described to break the axis that piece connects mounting bracket Line and the axis coincidence for breaking piece control hydraulic cylinder；The piece connection mounting bracket of breaking is hollow structure, described to break piece power push-rod Connected through the inside for breaking piece connection mounting bracket and the piece bar of breaking, two glass handling modules are symmetrically disposed on Break the both sides that piece connects mounting bracket；

The glass handling module includes stiffness connecting rod, stiffness contiguous block, stiffness rocking bar, breaks piece sucker installing plate and break piece vacuum Sucker；The middle part of the stiffness rocking bar is provided with stiffness branch bar；The power end of the stiffness rocking bar is cut with scissors with piece connection mounting bracket is broken Connect, the power end of the stiffness connecting rod is hinged with the upper end for breaking piece power push-rod, the swinging end and stiffness point of the stiffness connecting rod The end of pole is hinged；

The piece vacuum cup of breaking is arranged at the bottom for breaking piece sucker installing plate, and the top for breaking piece sucker installing plate passes through institute Stiffness contiguous block is stated to be fixedly connected with the sucker end of stiffness rocking bar；

The bottom for breaking piece bar is wedge angle.

2. the glass of Dual-robot coordination operation according to claim 1 breaks piece system, it is characterised in that:The glass is grabbed Modulus block also includes connecting block and stiffness auxiliary rod, and the connecting block is socketed on the middle part for breaking piece power push-rod, the strength The power end and connecting block of property auxiliary rod are hinged, and the sucker end of the stiffness auxiliary rod and the sucker end of stiffness rocking bar are hinged.

3. the glass of Dual-robot coordination operation according to claim 1 breaks piece system, it is characterised in that:It is described to break piece bar For triangular prism structure, the piece bar of breaking is broken unilateral and second breaks unilateral including push rod joint face, first, the push rod joint face, First breaks unilateral and second breaks unilateral three sides for breaking piece bar joined end to end into triangular prism structure, the power push-rod Lower end and it is described break piece bar push rod joint face connection, described first break it is unilateral and second break it is unilateral between formed break piece angle；

The piece angle of breaking is 50 ° -70 °.

4. the glass of Dual-robot coordination operation according to claim 1 breaks piece system, it is characterised in that:The flow is held Row device includes flow control hydraulic cylinder, flow power push-rod, flow connection mounting bracket and flow sucker installing plate, the flow control Hydraulic cylinder processed is installed on the output shaft of the robot body；

The upper end of the flow power push-rod and the piston rod connection of flow control hydraulic cylinder, the flow power push-rod The top surface connection of lower end and flow sucker installing plate, the flow vacuum cup is arranged on the bottom surface of flow sucker installing plate；

The top surface of the flow connection mounting bracket and flow control hydraulic cylinder connection, the flow connection mounting bracket is hollow Structure, the flow power push-rod connects inside and the flow sucker installing plate connection of mounting bracket through the flow.

5. the glass of Dual-robot coordination operation according to claim 4 breaks piece system, it is characterised in that:The robot Body includes pedestal, turntable and mechanical arm, and the base runner is connected on robot slide rail, and the turntable is installed on institute State on pedestal, the mechanical arm is installed on turntable, the turntable driving mechanical arm rotation；

The mechanical arm includes lower limb arm motor, lower limb arm, upper limbs arm, connecting shaft motor, limb arm connecting shaft, forelimb Arm motor, forelimb arm and actuator mounting flange；

The lower limb arm motor is installed on turntable, the lower end of the lower limb arm and the output shaft of lower limb arm motor Connection, the lower limb arm motor drives the lower limb arm to swing up and down；

The output shaft connection of the limb arm connecting shaft and connecting shaft motor, the connecting shaft motor driving limb arm connection Axle is rotated；

The upper end of the lower limb arm is hinged by the limb arm connecting shaft and upper limbs arm；

The forelimb arm motor is installed on upper limbs arm, and the front end of the forelimb arm and the output shaft of forelimb arm motor connect Connect, the forelimb arm motor driving forelimb arm is moved forward and backward；

The actuator mounting flange is installed on the end of forelimb arm；

For severing machine device people, the piece control hydraulic cylinder of breaking is installed on forelimb arm by the actuator mounting flange, and The piece of breaking controls hydraulic cylinder and forelimb arm to be mutually perpendicular to；

For flow robot, the flow control hydraulic cylinder is installed on forelimb arm by the actuator mounting flange, and The flow control hydraulic cylinder and forelimb arm are mutually perpendicular to.

6. the glass of Dual-robot coordination operation according to claim 1 breaks piece system, it is characterised in that:Also include polylith Air supporting plate, the original sheet glass input table, glass severing table, glass slice output table and glass waste paper output table are equipped with described Air supporting plate；

The air supporting plate is provided with multiple air supporting holes, is distributed on the air supporting plate to the air supporting hole array formula；

Also include a plurality of glass conveyer belt, the original sheet glass input table, glass slice output table and glass waste paper output table are equal Provided with one glass conveyer belt of setting between the glass conveyer belt, and adjacent two blocks of air supporting plates.