CN209193066U - A kind of windowpane assembly product line - Google Patents

Abstract

The utility model discloses a kind of windowpane assembly product line, including platform, two profile crawl robots, glass crawl robot, Glue Spreading Robot, two blanking chain scraper conveyors and core work platform, core work platform is mounted in the middle part of platform, blanking chain scraper conveyor interval is mounted on platform, profile grabs the machine human world every being mounted on platform, and profile crawl robot is corresponding with blanking chain scraper conveyor；Glass crawl robot and Glue Spreading Robot interval are mounted on platform, and the utility model solves the technical issues of slow windowpane speed of production in the prior art, low efficiency.

Description

A kind of windowpane assembly product line

Technical field

The utility model relates to windowpane production technical field more particularly to a kind of windowpane assembly product lines.

Background technique

In existing mental section windowpane production, the group of windowpane is carried out using the method for artificial gluing, screw threads for fastening Dress production, windowpane biggish for specification, uniformity coefficient, profile installation site, reliability of fastening of gluing etc. are all It is difficult to ensure that；Existing windowpane produces that in integrated, the large labor intensity of worker of realization production process；The crawl of profile, Installation clamping gripper position is adjustable, meets the generation requirement of different dimension glass windows assemblings, and apparatus adaptability is good；Traditional glass Glass window assembles that the degree of automation is low, production efficiency is low.

Patent application publication number are as follows: it is raw that the utility model patent of CN 108328241A discloses a kind of full-automatic glass window Producing line, including assembly system, assembly system include assembly pedestal, and assembly pedestal is equipped with supporting table vertically, and supporting table is equipped with master Sucker, the side of supporting table are connected with lifting platform, perforation are equipped in the middle part of lifting platform, is symmetrically arranged with two vertical shift branch on lifting platform Frame, vertical shift bracket are equipped with centering body；Two traversing brackets are symmetrically arranged on lifting platform, traversing bracket is equipped with transducer Structure；It assembles the opposite side of pedestal and is equipped with profile preprocess system, profile preprocess system includes cradle, the front end of cradle Equipped with feeding cylinder, the rear end of cradle, which is equipped with, moves material track, moves above material track and is equipped with disconnecting device and drilling-milling apparatus, profile Positioning device can be moved along material track is moved；It assembles the opposite other side of pedestal and is equipped with glass feeding system, the dress of the patent disclosure It sets and takes up a large area, the scope of application is small.

Utility model content

The purpose of the utility model is to provide a kind of windowpane assembly product lines, solve windowpane group in the prior art The technical issues of the degree of automation is low during dress, production efficiency is low, glazing product unstable quality.

A kind of windowpane assembly product line, including platform, two profile crawl robots, glass grab robot, gluing Robot, two blanking chain scraper conveyors and core work platform, the core work platform are mounted in the middle part of platform, the blanking chain Plate conveyer interval is mounted on platform, and the profile crawl machine human world is every being mounted on platform, and profile grabs robot It is corresponding with the blanking chain scraper conveyor；The glass crawl robot and Glue Spreading Robot interval are mounted on platform.

Based on the above technical solution, the utility model can also do following improvement:

Further, glass crawl robot includes glass crawl mechanical arm, the first robotic connector, sucker peace Substrate and the first vacuum sponge sucker are filled, the glass crawl mechanical arm is mounted on platform, and the end of glass crawl mechanical arm Portion is equipped with the first robotic connector, and the end of first robotic connector is equipped with sucker installation base plate, the suction Disk installation base plate is equipped with multiple first vacuum sponge suckers along its circumferencial direction interval, and the beneficial effect using this step is to pass through Glass grabs robot and the first vacuum sponge sucker is driven to draw glass, is passed on core work platform, completes processing.

Further, the first vacuum sponge sucking disc back side is fixed by sucker mounting plate, using the beneficial effect of this step Fruit is can to prevent its play by sucker mounting plate with fixing sucking disk.

Further, the blanking chain scraper conveyor includes conveying machine base, low level side plate, high-order side plate, carrier bar, gear Plate, front end baffle and end stop；

The conveying machine base is mounted on platform, above the conveying machine base two sides be separately installed with low level side plate and High-order side plate, and convey interval on machine base and a plurality of carrier bar is installed, it is provided with partition between the adjacent carrier bar, before described End-stopping plate and end stop interval are mounted on conveying machine base, and front end baffle and end stop are located at chain board ends, Beneficial effect using this step is that profile conveying is completed by blanking chain scraper conveyor, completes processing.

Further, profile crawl robot includes profile crawl mechanical arm, the second robotic connector, manipulator Crossbeam, manipulator guide rail, manipulator slide unit, gripper slide plate, finger cylinder and gripper, the profile crawl mechanical arm are mounted on ground On platform, and the end of profile crawl mechanical arm is equipped with the second robotic connector, peace above second robotic connector Equipped with manipulator crossbeam, manipulator guide rail is installed on the manipulator crossbeam, manipulator is installed on the manipulator guide rail Slide unit is equipped with gripper slide plate on the manipulator slide unit, finger cylinder, the finger cylinder is equipped on the gripper slide plate Output end gripper is installed, the beneficial effect using this step is to grab robot by profile to grab profile from conveyer It takes, send to completion processing on core work platform.

Further, the core work platform includes table base, lifting cylinder, the second vacuum sponge sucker, limit Mechanism and organisation of working；

Lifting cylinder is installed, it is true that the output end above the lifting cylinder is equipped with second in the middle part of the table base Empty sponge sucker, the activity position-limit mechanism are mounted on above table base, and the activity organisation of working is mounted on workbench Above pedestal, and movable organisation of working is located above the movable position-limit mechanism, the motion profile of the activity position-limit mechanism and The motion profile of the activity organisation of working is mutually perpendicular to.

Further, the movable position-limit mechanism includes first servo motor, the first driving wheel, the first synchronous pulley, the One two-way trapezoidal screw, two the first feed screw nuts and limit plates；

The first servo motor is mounted below the table base, and the output end of first servo motor installs institute The first driving wheel is stated, first synchronous pulley is mounted on the outside of table base, and the first synchronous pulley and the first driving wheel Between by the first synchronous band connection, the first two-way trapezoidal screw is installed in the middle part of first synchronous pulley, described first Stem nut interval is mounted on the first two-way trapezoidal screw, and the limit plate is equipped on the first feed screw nut, the limit Plate is located at the second vacuum sponge sucker two sides.

Further, the movable organisation of working includes the second servo motor, the second speed reducer, the second driving wheel, second Synchronous pulley, the second two-way trapezoidal screw, two the second feed screw nuts and bolt screwing machine structure；

Second servo motor is mounted below the table base, and the output end of the second servo motor installs institute The second speed reducer is stated, the output end of second speed reducer is equipped with second driving wheel, the second synchronous pulley installation On the outside of table base, and by the second synchronous band connection between the second synchronous pulley and the second driving wheel, described second is same The second two-way trapezoidal screw is installed in the middle part of step belt wheel, second feed screw nut interval is mounted on the second two-way trapezoidal screw On, and the bolt screwing machine structure is installed on the second feed screw nut, the bolt screwing machine structure is located at the second vacuum sea Continuous sucker two sides.

Further, the bolt screwing machine structure includes transfer beam, moving guide rail, adjustment beam, clamps finger cylinder, fastening Gripper and screw tightening machine, the transfer beam is mounted on second feed screw nut, and the adjustment is equipped on transfer beam Beam, the adjustment beam two sides are separately installed with bolt screwing machine and clamp finger cylinder, the output end for clamping finger cylinder Fastening gripper is installed.

Further, the described first two-way trapezoidal screw is mutually perpendicular to the described second two-way trapezoidal screw.

The utility model has the beneficial effects that

The utility model provides a kind of windowpane assembly product line of integrated form, can be completed using all kinds of robots each The processing of station, thus realize automation, the placement and last assembling of the crawl of crawl, placement, glass including profile, Greatly alleviate the burden of staff；The utility model provides two radical spaces vertical two-way trapezoidal screw, utilizes servo The function that motor passes through the stable adjusting position of realization；The utility model can be realized the automation of production, and can mention High efficiency.

Detailed description of the invention

It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art Under the premise of labour, it is also possible to obtain other drawings based on these drawings.

Fig. 1 is a kind of structural schematic diagram of windowpane assembly product line described in the utility model specific embodiment；

Fig. 2 is a kind of glass gripping portion part of windowpane assembly product line described in the utility model specific embodiment Structural schematic diagram；

Fig. 3 is a kind of glass gripping portion part of windowpane assembly product line described in the utility model specific embodiment Side view；

Fig. 4 is a kind of blanking chain scraper conveyor knot of windowpane assembly product line described in the utility model specific embodiment Structure schematic diagram；

Fig. 5 is a kind of profile crawl robot of windowpane assembly product line described in the utility model specific embodiment Structural schematic diagram；

Fig. 6 is a kind of structure of the core work platform of windowpane assembly product line described in the utility model specific embodiment Schematic diagram；

Fig. 7 is a kind of looking up for core work platform of windowpane assembly product line described in the utility model specific embodiment Figure；

Fig. 8 is a kind of main view of the core work platform of windowpane assembly product line described in the utility model specific embodiment Figure；

Fig. 9 is a kind of vertical view of the core work platform of windowpane assembly product line described in the utility model specific embodiment Figure；

Appended drawing reference:

1- platform；2- profile grabs robot；3- glass grabs robot；4- Glue Spreading Robot；The conveying of 5- blanking carrier bar Machine；6- core work platform；7- glass pile；

201- profile grabs mechanical arm；The second robotic connector of 202-；203- manipulator crossbeam；204- manipulator is led Rail；205- manipulator slide unit；206- gripper slide plate；207- finger cylinder；208- gripper；

301- glass grabs mechanical arm；The first robotic connector of 302-；303- sucker installation base plate；The first vacuum of 304- Sponge sucker；305- sucker mounting plate；

501- conveys machine base；502- low level side plate；503- high position side plate；504- carrier bar；505- partition；The front end 506- gear Plate；507- end stop；

601- table base；602- lifting cylinder；603- the second vacuum sponge sucker；604- activity position-limit mechanism； 605- activity organisation of working；

606- first servo motor；The first driving wheel of 607-；The first synchronous pulley of 608-；The two-way trapezoidal spiral shell of 609- first Bar；The first feed screw nut of 610-；611- limit plate；

The second servo motor of 612-；The second speed reducer of 613-；The second driving wheel of 614-；The second synchronous pulley of 615-；616- Second two-way trapezoidal screw；The second feed screw nut of 617-；618- bolt screwing machine structure；

619- transfer beam；620- moving guide rail；621- adjusts beam；622- clamps finger cylinder；623- fastens gripper；624- Screw tightening machine；The first speed reducer of 625-；626- connection slide unit.

Specific embodiment

It is described in detail below in conjunction with embodiment of the attached drawing to technical solutions of the utility model.Following embodiment is only For clearly illustrating the technical solution of the utility model, therefore it is only used as example, and it is originally practical to cannot be used as a limitation limitation Novel protection scope.

It should be noted that unless otherwise indicated, technical term or scientific term used in this application should be this reality The ordinary meaning understood with novel one of ordinary skill in the art.

In the description of the present application, it is to be understood that term " center ", "upper", "lower", "vertical", "horizontal", The orientation or positional relationship of the instructions such as "top", "bottom" is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of retouching State the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with Specific orientation construction and operation, therefore should not be understood as limiting the present invention.

In this application unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc. Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings Condition understands the concrete meaning of above-mentioned term in the present invention.

Embodiment 1

As shown in Figure 1, a kind of windowpane assembly product line provided by the utility model, including 1, two profile of platform are grabbed Take robot 2, glass crawl robot 3,4, two blanking chain scraper conveyors 5 of Glue Spreading Robot and core work platform 6, the core Heart workbench 6 is mounted on 1 middle part of platform, and the interval of blanking chain scraper conveyor 5 is mounted on platform 1, the profile gripper The interval of device people 2 is mounted on platform 1, and profile crawl robot 2 is corresponding with the blanking chain scraper conveyor 5；The glass Crawl robot 3 and the interval of Glue Spreading Robot 4 are mounted on platform 1；The utility model is the assembling for being directed to windowpane, is passed through Robot grab material, on core work platform 6 complete assembling, instead of existing man-made assembly, the utility model it is worked Cheng Shi first passes through the glass on glass crawl robot 3 crawl platform, is placed on core work platform 6, Glue Spreading Robot 4 is complete At glass glue-spreading, profile crawl robot 2 grabs profile from blanking chain scraper conveyor 5, is placed on core work platform 6 Glass outer side, complete assembling.

As shown in Figure 1-3, glass crawl robot 3 includes that glass grabs mechanical arm 301, the first robotic connector 302, sucker installation base plate 303 and the first vacuum sponge sucker 304, the glass crawl mechanical arm 301 are mounted on platform 1, And the end of glass crawl mechanical arm 301 is equipped with the first robotic connector 302, first robotic connector 302 End is equipped with sucker installation base plate 303, and the sucker installation base plate 303 is equipped with multiple first very along its circumferencial direction interval Empty sponge sucker 304,304 back side of the first vacuum sponge sucker are fixed by sucker mounting plate 305；In the utility model Glass crawl robot 3 is for grabbing glass, and instead of existing Manual feeding, glass grabs robot 3 and passes through the vacuum Sponge sucker generate big pull of vacuum glass is grabbed from glass stacking it is to be assembled to core work platform 6 etc., after being completed, Windowpane is grabbed to windowpane stacking again and carries out stacking, can be improved working efficiency in this way.

As shown in Fig. 1,4, the blanking chain scraper conveyor 5 includes conveying machine base 501, low level side plate 502, high-order side plate 503, carrier bar 504, partition 505, front end baffle 506 and end stop 507；

The conveying machine base 501 is mounted on platform 1, and the 501 top two sides of conveying machine base are separately installed with low Position side plate 502 and high-order side plate 503, and convey interval on machine base 501 and a plurality of carrier bar 504, the adjacent carrier bar are installed Partition 505 is provided between 504, the front end baffle 506 and the interval of end stop 507 are mounted on conveying machine base 501, and Front end baffle 506 and end stop 507 are located at 504 both ends of carrier bar；Blanking chain scraper conveyor 5 in the utility model is by electricity Machine drives carrier bar 504, realizes the conveying of glass window profile, and conveying machine base 501 is designed as oblique form, in order to make type Unilateral side is close to low level side plate 502 or partition 505 to material under the effect of gravity, realizes the left and right positioning of workpiece；Front end baffle 506 is used for The positioning of profile when profile is transported to blanking 5 front end of chain scraper conveyor, is taken workpiece away by profile crawl robot 2, is placed Onto core work platform 6.

As shown in Figure 1,5, profile crawl robot 2 includes that profile grabs mechanical arm 201, the second robotic connector 202, manipulator crossbeam 203,204, two, manipulator guide rail, 205, two, manipulator slide unit, 206, two finger gas of gripper slide plate Cylinder 207 and two grippers 208, the profile crawl mechanical arm 201 are mounted on platform 1, and the end of profile crawl mechanical arm 201 Portion is equipped with the second robotic connector 202, and manipulator crossbeam 203, institute are equipped with above second robotic connector 202 It states and manipulator guide rail 204 is installed on manipulator crossbeam 203, there are two manipulators for interval installation on the manipulator guide rail 204 Slide unit 205 is equipped with gripper slide plate 206 on the manipulator slide unit 205, is equipped with finger cylinder on the gripper slide plate 206 207, the output end of the finger cylinder 207 is equipped with gripper 208；There are two profile crawl robots 2 in the utility model, And it is corresponding with blanking chain scraper conveyor 5, i.e., each profile crawl robot 2 corresponds to a blanking chain scraper conveyor 5, Mei Gexing There are two 207 mechanisms of finger cylinder in material crawl robot 2, can complete the clamping of profile in this way, the utility model is according to work Skill requires to carry out crawl to be a pair of finger cylinder 207, and inner cavity air inlet, gripper 208 grabs profile；Manipulator slide unit 205 can be The adjusting that the enterprising line position of manipulator guide rail 204 is set, to adapt to the crawl requirement of different length profile size；It is adopted in the utility model Glass crawl mechanical arm, profile crawl mechanical arm and Glue Spreading Robot choose the machine of model KUKA KR30L16-2 People, KR30L16-2 can be applied to carry and handling, packaging and sorting, gluing, surface treatment.

As a shown in Figure 6, the core work platform 6 includes table base 601, lifting cylinder 602, the second vacuum sponge Sucker 603, movable position-limit mechanism 604 and movable organisation of working 605；

Lifting cylinder 602, the output end peace of 602 top of lifting cylinder are installed in the middle part of the table base 601 Equipped with the second vacuum sponge sucker 603, the activity position-limit mechanism 604 is mounted on 601 top of table base, and the activity adds Work mechanism 605 is mounted on 601 top of table base, and movable organisation of working 605 is located on the movable position-limit mechanism 604 The motion profile of side, the motion profile of the activity position-limit mechanism 604 and the movable organisation of working 605 is mutually perpendicular to；This reality It is drive the second vacuum sponge sucker 603 up and down motion with the lifting cylinder 602 in novel, and the second vacuum sponge sucker 603 It is to draw glass, which is to grab the crawl of robot 3 by glass to be placed on core work platform 6, activity limit Mechanism 604 is the position for limiting glass, guarantees the stability of processing；Movable organisation of working 605 is to tighten windowpane Screw.

As shown in Fig. 1,7, the activity position-limit mechanism 604 includes first servo motor 606, the first driving wheel 607, first Synchronous pulley 608, first 609, two the first feed screw nuts 610 of two-way trapezoidal screw and limit plate 611, the first speed reducer 625；

The first servo motor 606 is mounted on 601 lower section of table base, and first servo motor 606 is defeated Outlet installs first speed reducer 625, and the output end of first speed reducer 625 is equipped with first driving wheel 607, institute It states the first synchronous pulley 608 and is mounted on 601 outside of table base, and between the first synchronous pulley 608 and the first driving wheel 607 By the first synchronous band connection, the first two-way trapezoidal screw 609 is installed in the middle part of first synchronous pulley 608, described first The interval of feed screw nut 610 is mounted on the first two-way trapezoidal screw 609, and is equipped with the limit on the first feed screw nut 610 Plate 611, the limit plate 611 are located at 603 two sides of the second vacuum sponge sucker；Movable position-limit mechanism in the utility model 604 be that synchronous pulley movement is driven by servo motor, to drive screw motion, in screw motion, feed screw nut can Opposite or reverse motions can install finger cylinder and hand to adjust the spacing between limit plate 611 on limit plate 611 Pawl pushes down glass with this, effectively avoids glass utility model in processing mobile, limit plate 611 is located at the suction of the second vacuum sponge The outside of disk 603 can effectively fix glass in this way.

As shown in Fig. 1,8, the activity organisation of working includes the second servo motor 612, the second speed reducer 613, second master Driving wheel 614, the second synchronous pulley 615, second 616, two the second feed screw nuts 617 of two-way trapezoidal screw and bolt screwing machine structure 618；

Second servo motor 612 is mounted on 601 lower section of table base, and the second servo motor 612 is defeated Outlet installs second speed reducer 613, and the output end of second speed reducer 613 is equipped with second driving wheel 614, institute It states the second synchronous pulley 615 and is mounted on 601 outside of table base, and between the second synchronous pulley 615 and the second driving wheel 614 It is connected by the second synchronous belt 615, the second two-way trapezoidal screw 616 is installed in the middle part of second synchronous pulley 615, described the Two feed screw nuts 617 interval is mounted on the second two-way trapezoidal screw 616, and is equipped with the spiral shell on the second feed screw nut 617 Bolt tightening mechanism 618, the bolt screwing machine structure 618 are located at 603 two sides of the second vacuum sponge sucker；In the utility model The displaced portion of movable organisation of working 605 is consistent with the movable displaced portion of position-limit mechanism 604, is driven by servo motor Synchronous pulley drives screw rod rotation, to realize the displacement transmission of feed screw nut, finally drives the movement of bolt screwing machine structure opposite Or reverse motions；Connection is mounted on above the first feed screw nut 610 and the second feed screw nut 617 in the utility model to slide Platform 626 connect convenient for feed screw nut with other component in this way；It is connected between slide unit 626 and limit plate 611 in the utility model One group of transfer beam, moving guide rail, adjustment beam can be set, it is easy to remove in this way.

As shown in Fig. 1,8, the bolt screwing machine structure 618 includes transfer beam 619, moving guide rail 620, adjustment beam 621, folder Tight finger cylinder 622, fastening gripper 623 and screw tightening machine 624, the transfer beam 619 are mounted on second feed screw nut The moving guide rail 620 is installed, there are two described for interval installation on the moving guide rail 620 on 617, and on transfer beam 619 Beam 621 is adjusted, 621 two sides of adjustment beam are separately installed with bolt screwing machine 624 and clamp finger cylinder 622, the clamping The output end of finger cylinder 622 is equipped with fastening gripper 623；There are four bolt screwing machines 624 in the utility model, such energy The assembling of windowpane is enough completed, the first two-way trapezoidal screw 609 is mutually perpendicular to the described second two-way trapezoidal screw 616.

The course of work of the utility model:

As needed, control system is connected on the outside of the utility model, at work, control system issues work and refers to It enables, glass grabs the suction that robot 3 leans on the first vacuum sponge sucker 304 to generate, and crawl glass is placed in core work platform 6 On；Lifting cylinder 602 determines the position of the second vacuum sponge sucker 603, and initial position is low level, the rational position of glass It is limited by limit plate 611；Glass grabs robot 3 and completes to grab, after the task of placement glass, the second vacuum sponge sucker 603 Work, sucks glass；602 cavity of resorption air inlet of lifting cylinder, the second vacuum sponge sucker 603 of lifting hold glass and are raised up to installation height Degree；Glue Spreading Robot 4 is started to work, and carries out gluing by four sides of the technique requirement to glass；After the completion of gluing, the profile of two sides is grabbed It takes robot 2 to grab 2 profiles from the front end baffle 506 of respective side respectively, attaches it to four side of glass for completing gluing； Two servo motor operatings drive the two-way trapezoidal screw rotation that two radical spaces are vertical, silk by speed reducer, toothed belt transmission Stem nut relative motion；So that movable position-limit mechanism 604 and the relatively close windowpane sub-assembly of movable organisation of working 605； After in place, the air inlet of finger cylinder inner cavity is clamped, the gripper of surrounding clamps profile；Screw tightening machine 624 works, and tightens screw completion Assembling；Second vacuum sponge sucker 603, which stops working, loosens glass, and glass grabs robot 3 and acts, and inhales by the first vacuum sponge Disk 304 generate suction be crawled and assembled after windowpane to glass stacking on carry out stacking, complete the assembling of windowpane.

In the specification of the utility model, numerous specific details are set forth.It is to be appreciated, however, that the reality of the utility model Applying example can practice without these specific details.In some instances, well known method, knot is not been shown in detail Structure and technology, so as not to obscure the understanding of this specification.

In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example Point is contained at least one embodiment or example of the utility model.In the present specification, to the schematic table of above-mentioned term It states and is necessarily directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be with It can be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this field Technical staff can by the feature of different embodiments or examples described in this specification and different embodiments or examples into Row combination and combination.

Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the utility model, rather than it is limited System；Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should Understand: it is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of Technical characteristic is equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and this is practical new The range of each embodiment technical solution of type, should all cover in the claim of the utility model and the range of specification.

Claims (10)

1. a kind of windowpane assembly product line, which is characterized in that grab robot, glass gripper including platform, two profiles Device people, Glue Spreading Robot, two blanking chain scraper conveyors and core work platform, the core work platform are mounted in the middle part of platform, Blanking chain scraper conveyor interval is mounted on platform, and the profile crawl machine human world is every being mounted on platform, and profile It is corresponding with the blanking chain scraper conveyor to grab robot；The glass crawl robot and Glue Spreading Robot interval are mounted on On platform.

2. a kind of windowpane assembly product line according to claim 1, which is characterized in that the glass grabs robot packet Include glass crawl mechanical arm, the first robotic connector, sucker installation base plate and the first vacuum sponge sucker, the glass crawl Mechanical arm is mounted on platform, and the end of glass crawl mechanical arm is equipped with the first robotic connector, and described first is mechanical The end of hand connector is equipped with sucker installation base plate, and the sucker installation base plate is equipped with multiple along its circumferencial direction interval One vacuum sponge sucker.

3. a kind of windowpane assembly product line according to claim 2, which is characterized in that the first vacuum sponge sucker The back side is fixed by sucker mounting plate.

4. a kind of windowpane assembly product line according to claim 1, which is characterized in that the blanking chain scraper conveyor packet Include conveying machine base, low level side plate, high-order side plate, carrier bar, baffle, front end baffle and end stop；

The conveying machine base is mounted on platform, and two sides are separately installed with low level side plate and a high position above the conveying machine base Side plate, and convey interval on machine base and a plurality of carrier bar is installed, partition, the front end gear are provided between the adjacent carrier bar Plate and end stop interval are mounted on conveying machine base, and front end baffle and end stop are located at chain board ends.

5. a kind of windowpane assembly product line according to claim 1, which is characterized in that the profile grabs robot packet Include profile crawl mechanical arm, the second robotic connector, manipulator crossbeam, manipulator guide rail, manipulator slide unit, gripper slide plate, Finger cylinder and gripper, profile crawl mechanical arm are mounted on platform, and the end of profile crawl mechanical arm is equipped with the Two robotic connectors, the second robotic connector top are equipped with manipulator crossbeam, install on the manipulator crossbeam There is manipulator guide rail, manipulator slide unit be installed on the manipulator guide rail, gripper slide plate is installed on the manipulator slide unit, Finger cylinder is installed, the output end of the finger cylinder is equipped with gripper on the gripper slide plate.

6. a kind of windowpane assembly product line according to claim 1, which is characterized in that the core work platform includes work Make platform pedestal, lifting cylinder, the second vacuum sponge sucker, position-limit mechanism and organisation of working；

Lifting cylinder is installed, the output end above the lifting cylinder is equipped with the second vacuum sea in the middle part of the table base Continuous sucker, the activity position-limit mechanism are mounted on above table base, and the activity organisation of working is mounted on table base Top, and movable organisation of working is located above the movable position-limit mechanism, the motion profile of the activity position-limit mechanism and described The motion profile of movable organisation of working is mutually perpendicular to.

7. a kind of windowpane assembly product line according to claim 6, which is characterized in that it is described activity position-limit mechanism include First servo motor, the first driving wheel, the first synchronous pulley, the first two-way trapezoidal screw, two the first feed screw nuts and limits Plate；

The first servo motor is mounted below the table base, and the output end installation described the of first servo motor One driving wheel, first synchronous pulley are mounted on the outside of table base, and between the first synchronous pulley and the first driving wheel By the first synchronous band connection, the first two-way trapezoidal screw, the first screw rod spiral shell are installed in the middle part of first synchronous pulley Mother interval is mounted on the first two-way trapezoidal screw, and the limit plate is equipped on the first feed screw nut, the limit plate position In the second vacuum sponge sucker two sides.

8. a kind of windowpane assembly product line according to claim 7, which is characterized in that it is described activity organisation of working include Second servo motor, the second speed reducer, the second driving wheel, the second synchronous pulley, the second two-way trapezoidal screw, two the second screw rods Nuts and bolt tightening mechanism；

Second servo motor is mounted below the table base, and the output end installation described the of the second servo motor Two speed reducers, the output end of second speed reducer are equipped with second driving wheel, and second synchronous pulley is mounted on work Make platform chassis outer side, and passes through the second synchronous band connection, second synchronous belt between the second synchronous pulley and the second driving wheel Wheel middle part is equipped with the second two-way trapezoidal screw, and second feed screw nut interval is mounted on the second two-way trapezoidal screw, and The bolt screwing machine structure is installed, the bolt screwing machine structure is located at the second vacuum sponge sucker on the second feed screw nut Two sides.

9. a kind of windowpane assembly product line according to claim 8, which is characterized in that the bolt screwing machine structure includes Transfer beam, adjustment beam, clamps finger cylinder, fastening gripper and screw tightening machine at moving guide rail, and the transfer beam is mounted on described The adjustment beam is installed, the adjustment beam two sides are separately installed with bolt screwing machine on the second feed screw nut, and on transfer beam With clamping finger cylinder, the output end for clamping finger cylinder is equipped with fastening gripper.

10. a kind of windowpane assembly product line according to claim 9, which is characterized in that the first two-way trapezoidal spiral shell Bar is mutually perpendicular to the described second two-way trapezoidal screw.