CN214651708U

CN214651708U - Glass insertion frame machine

Info

Publication number: CN214651708U
Application number: CN202120393020.5U
Authority: CN
Inventors: 刘渊; 王猛
Original assignee: Dongguan Nangong Machinery Technology Co ltd
Current assignee: Dongguan Nangong Machinery Technology Co ltd
Priority date: 2021-02-22
Filing date: 2021-02-22
Publication date: 2021-11-09
Anticipated expiration: 2031-02-22

Abstract

The utility model discloses a glass inserting frame machine, relating to the technical field of feeding equipment; the automatic feeding device comprises a workbench, a first feeding rail, a second feeding rail and a manipulator assembly, wherein the first feeding rail and the second feeding rail are arranged on the workbench side by side and extend along a first direction; a feeding area, a material taking area and a discharging area are sequentially distributed on the first feeding track along the feeding direction; an upper frame area, an inserting frame area and a lower frame area are sequentially distributed on the second feeding track along the feeding direction; a tray feeding assembly is arranged on the feeding area, and an empty tray stacking assembly is arranged on the discharging area; the upper frame area is provided with an inserting frame feeding assembly; a camera shooting assembly in signal connection with the manipulator assembly is arranged above the material taking area and the inserting frame area; the supporting mechanical arm assembly enables the glass sheet horizontally arranged on the tray to be vertically inserted into the inserting frame; adopt the scheme that this application provided to solve current glass piece goods material loading inefficiency, influence product production quality's technical problem simultaneously.

Description

Glass insertion frame machine

Technical Field

The utility model relates to a charging equipment technical field especially relates to a glass insertion frame machine.

Background

In the existing glass products, such as mobile phone screens and the like, the placing states of the glass products need to be converted when different processing procedures are converted in the processing process, for example, a flat glass plate is placed in an insertion frame; most of the existing manufacturers adopt a manual frame inserting mode, so that the labor consumption is high, the product damage risk is high, the production efficiency is low, and the reject ratio is high; therefore, a glass inserting frame machine is needed urgently, high-efficiency automatic feeding is achieved, meanwhile, the risk of damage to products is reduced, and high-efficiency and high-quality production is achieved.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a glass insertion frame machine, adopt the utility model provides a technical scheme has solved current glass piece goods material loading inefficiency, influences product production quality's technical problem simultaneously.

In order to solve the technical problem, the utility model provides a glass inserting frame machine, which comprises a workbench, a first feeding track and a second feeding track which are arranged on the workbench side by side and extend along a first direction, and a manipulator assembly;

the first feeding track is sequentially provided with a feeding area, a material taking area and a discharging area along the feeding direction;

an upper frame area, an inserting frame area and a lower frame area are sequentially distributed on the second feeding track along the feeding direction;

a tray feeding assembly is arranged on the feeding area, and an empty tray stacking assembly is arranged on the discharging area;

the upper frame area is provided with an inserting frame feeding assembly;

a camera shooting assembly in signal connection with the manipulator assembly is arranged above the material taking area and the inserting frame area;

the glass sheet loading device comprises a tray loading assembly, an inserting frame loading assembly, a manipulator assembly and a control system, wherein the tray loading assembly is used for transferring a tray loaded with glass sheets to a first loading rail, the inserting frame loading assembly is used for transferring an inserting frame loaded with the glass sheets to a second rail, and the manipulator assembly enables the glass sheets horizontally placed on the tray to be vertically inserted into the inserting frame;

in the implementation process, a plurality of glass sheets are loaded on the tray, the glass sheets are all horizontally placed, the tray loaded with the glass sheets is loaded from the loading area of the first loading track, the tray is sequentially transferred onto the first loading track through the tray loading assembly, and is moved to the material taking area along the first direction, and then the tray is stopped at the material taking area;

the empty inserting frame is transferred to the second feeding track through the inserting frame feeding assembly and is stopped at the inserting frame area after being transferred to the inserting frame area from the inserting frame area; then the camera shooting assembly is used for identifying and sending a signal to the manipulator assembly through vision, the manipulator assembly adsorbs and turns over the glass sheet on the tray, and then the glass sheet is vertically inserted into the inserting frame;

after the camera shooting assembly identifies that the glass sheets on the tray are transferred, the first feeding track drives the next tray loaded with the glass sheets to move to the material taking area, the unloaded tray is transferred to the blanking area along the first direction, and the empty tray stacking assembly stacks the unloaded trays together in order, so that subsequent transfer is facilitated; after the camera shooting assembly identifies that the glass sheets on the inserting frame are loaded, the second feeding track drives the next empty inserting frame to be transferred to the inserting frame area, and the inserting frame loaded with the glass sheets is transferred to the lower frame area along the first direction; by adopting the technical scheme provided by the application, the operation mode that the frame is manually inserted in the prior art is replaced, the working efficiency is improved, the damage to the glass sheet is reduced, and the product quality is improved; meanwhile, the camera assembly is matched with the manipulator assembly, so that accurate material grabbing and accurate material inserting are realized, and the production efficiency and the production quality are further improved; adopt the double track way design side by side in this application, practice thrift the production space, reduce manipulator removal route simultaneously, get the material district and separate from the setting with inserting the material district, further promote production efficiency.

Preferably, the trays are vertically stacked on the tray feeding assembly, and a space exists between every two adjacent trays;

the tray feeding assembly comprises

The first lifting driving group moves back and forth along a second direction and can be supported below the tray;

the tray mechanisms are arranged on two sides of the first feeding rail, can extend into the space between the two trays and support the tray positioned above the two trays;

the first clamping mechanism is arranged on the first lifting driving group and can be clamped at two opposite sides of the tray;

preferably, the first loading rail is located on a lifting path of the first lifting driving group, and the first lifting driving group holds the tray in a second direction and transfers the tray to the first loading rail.

Preferably, the material taking area is provided with a first arrival sensor in signal connection with the first feeding track, and the first arrival sensor is used for monitoring whether the tray reaches a feeding position.

In the implementation process, the first lifting driving group lifts upwards along the second direction and is supported below the trays, the tray mechanism retracts to leave the lifting path of the trays, the first lifting driving group drives the trays to move downwards smoothly, after the trays move downwards to a certain height, the tray mechanism extends between two adjacent layers of trays to support the trays above, the first clamping mechanism draws close to and stabilizes the trays inwards, the first lifting driving group continues to drive the trays to move downwards, the trays above are supported by the tray mechanism, when the trays below move downwards further, the tray splitting operation can be realized, when the trays continue to move downwards to a certain position, the first clamping mechanism is far away from the trays and integrally moves downwards further, the trays fall to the first feeding track, at the moment, the first lifting driving group drives the first clamping mechanism to move downwards further, and therefore, the first clamping mechanism is lower than the surface of the first feeding track conveying line, therefore, the tray can move to the material taking area smoothly along with the first feeding track; thereby the conveyer belt stops to remove and makes the tray stop after the position of first sensor that targets in place senses the tray, thereby the subassembly of making a video recording passes through visual identification and sends signal to manipulator assembly, realizes manipulator assembly's accurate snatching, shifts the glass piece that will be located on the tray one by one to inserting on the frame, and the glass piece on the subassembly discernment tray of making a video recording is snatched and is accomplished.

Preferably, the empty tray stacking assembly comprises tray supports arranged on two sides of the first feeding rail, a tray sheet pivoted on the tray supports, and a second lifting driving group arranged below the tray;

the distance between the tray sheets which are oppositely positioned at the two sides of the first feeding track is smaller than the length of the tray in the third direction;

the second lifting driving group lifts the tray along a second direction and enables the tray sheets to turn over, the tray sheets recover under the action of gravity, and the upper surfaces of the plurality of tray sheets are positioned on the same horizontal plane after recovery;

in the implementation process, after the glass sheets on the tray are transferred, the conveyor belt is opened again to continuously transfer the no-load tray to the blanking area along the first direction, after the glass sheets are transferred to the designated position, the no-load tray is jacked by the second lifting driving group, and the tray sheet is located on the jacking path of the no-load tray, so that when the no-load tray is lifted, the tray sheet is driven to turn over until the tray is jacked to the position above the tray sheet, the tray sheet returns to a straight state under the action of self gravity, and the second lifting driving group drives the tray to move downwards to be placed on the straight tray sheet; in this scheme, the tray piece need not additionally to set up its upset of power unit drive, and the cooperation second lift drive drives the jacking process and the reversible mechanism of self of unloaded tray, realizes the unloaded tray of automatic buffer memory.

Preferably, the manipulator assembly comprises a five-axis manipulator and an adsorption assembly at a driving end of the five-axis manipulator;

the adsorption assembly comprises a sucker for adsorbing glass, a material taking fool-proofing sensor for monitoring the sucker to take materials in the material taking area, and a frame inserting fool-proofing sensor for monitoring the sucker to insert the glass in the frame inserting area;

in the implementation process, the five-axis manipulator drives the adsorption assembly to rotate freely, the adsorption assembly adsorbs and fixes the glass sheet on the tray through the sucker on the adsorption assembly, and in the adsorption and fixation process, the material taking fool-proofing sensor monitors the pressing degree of the sucker, so that the phenomenon that the glass sheet is damaged due to excessive pressing is effectively prevented, and the product quality is ensured; then drive the upset of adsorption component, make the glass piece be in vertical state and insert and arrange on inserting the frame, at the in-process of inserting, the frame prevents that slow-witted sensor monitoring adsorption component inserts the pressing force when inserting, inserts when not arriving the position, and it can be bigger than a bit to insert the pressing force, then can trigger the frame of inserting and prevent slow-witted sensor alarm this moment to effectively prevent that the glass piece from inserting the frame smoothly and leading to the phenomenon of glass piece damage.

Preferably, the rack inserting and feeding assembly comprises a rack tray for loading the rack, a third lifting driving group for driving the rack tray to move back and forth along a first direction, and a rack pulling driving group for pulling the rack inserted on the rack tray to the second feeding track along the first direction;

in the implementation process, after the third lifting driving group lifts the rack tray to a specified position along the first direction, the third lifting driving group pulls the rack driving group to transfer the unloaded inserted rack from the rack tray to the second feeding track.

Preferably, the rack tray is divided into a plurality of layers along the second direction, and a stop block is arranged on one side, close to the second feeding rail, of each layer of rack tray; an unlocking driving group is arranged on the side edge of the material rack tray;

the stop block is pivoted on the material rack tray, a first end part of the stop block is abutted against the side edge of the inserting rack and limits the stop block to move towards the second track, and a second end part of the stop block is close to the unlocking driving group; a torsional spring is arranged at the pivot joint of the stop block;

the unlocking driving group pushes the second end part of the stop block along the third direction and drives the stop block to rotate along the pivoting part of the stop block, so that the limit of the first end part of the stop block on the inserting frame is released;

in the implementation process, the material rack trays are divided into a plurality of layers, so that a plurality of groups of no-load insertion racks can be cached, and the stop blocks are arranged on each layer of material rack tray, so that the positions of the insertion racks on the material rack trays can be effectively limited, the insertion racks are prevented from being separated from the bearing range of the material rack trays, and meanwhile, the damage to equipment caused by clamping in the lifting process due to poor placement positions of the insertion racks is prevented; therefore, when the third lifting driving group drives the material rack tray to lift, the stop block limits the position of the inserting rack; when the work or material rest tray reachd the assigned position, when needing to shift the frame of inserting to the second material loading track this moment, the drive assembly that unblanks promotes the second tip of dog, and the dog pin joint is on the work or material rest tray, thereby it rotates to drive the dog and makes the first tip of dog keep away from the side of inserting the frame, inserts the frame and does not have the hindrance near second material loading track one side, draws the frame drive assembly then can will insert the frame and take to the second material loading track on.

Preferably, second clamping mechanisms are arranged on the two sides of the second feeding rail in the inserting frame area; the second clamping mechanism clamps and fixes the inserting frame along a third direction;

preferably, a second in-place sensor in signal connection with the second feeding track is arranged on the inserting frame area and used for detecting whether the inserting frame reaches the inserting position;

in the implementation process, the inserting frame and the second feeding track are transferred along the first direction, when the second in-place sensor detects that the inserting frame is in place, the conveying belt of the second feeding track stops to enable the inserting frame to stop moving, the camera assembly acquires the position of the material frame and sends signals to the second clamping mechanism of the manipulator assembly to clamp and fix the inserting frame from two sides of the inserting frame, the manipulator assembly inserts the glass sheets on the inserting frame one by one until the camera assembly detects that the inserting frame is full of the glass sheets; the second clamping mechanism effectively prevents to plant glass piece in-process and inserts the frame and rock to guarantee to insert going on smoothly of material process, promote and insert the material precision.

Compared with the prior art, the beneficial effects of the utility model reside in that: the application provides a glass insertion frame machine has realized that full-automatic glass inserts a method, has replaced the mode that current manual work inserted the frame, has promoted work efficiency, reduces the cost of labor, reduces the damage to the product, promotes product quality.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

FIG. 1 is a schematic diagram of the overall structure of one embodiment of the present application;

FIG. 2 is a schematic diagram of the internal structure of one embodiment of the present application;

FIG. 3 is a schematic structural distribution diagram of a first feeding rail according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a portion of one embodiment of the present application;

FIG. 5 is a schematic mechanical diagram of a tray mechanism according to one embodiment of the present application;

FIG. 6 is a schematic structural diagram of an empty tray stack assembly according to an embodiment of the present application;

FIG. 7 is a schematic structural diagram of a bay loading assembly according to an embodiment of the present application;

FIG. 8 is a schematic diagram of a portion of one embodiment of the present application;

FIG. 9 is a schematic structural diagram of a second feeding rail according to an embodiment of the present application;

FIG. 10 is a schematic diagram of a robot assembly according to an embodiment of the present application;

FIG. 11 is an enlarged view of the structure of portion A in FIG. 10

FIG. 12 is a schematic diagram of a sorption assembly according to one embodiment of the present application;

wherein: 10. a work table; 11. a first feeding rail; 111. a feeding area; 112. a material taking area; 113. a blanking area; 114. a first conveyor belt; 115. a first light source group; 116. a first in-position sensor; 12. a second material rail; 121. a racking area; 122. a bay area; 123. a lower shelf area; 124. a second clamping mechanism; 125. A second light source group; 126. a second in-position sensor; 20. a tray feeding assembly; 21. a first lifting driving group; 211. a closed-loop motor; 212. a coupling; 213. a screw assembly; 214. a first fixing plate; 215. A first jacking plate; 216. a connecting plate; 22. a tray mechanism; 221. inserting sheets; 222. a tray driving cylinder; 223. a tray top block; 224. a first slide rail; 225. a disc separating in-place sensor; 226. a tray in-place sensor; 227. a slide plate; 228. a support; 23. a first clamping mechanism; 231. disc separating clamping pieces; 232. a clamping piece driving group; 30. an empty tray stacking assembly; 31. a second lifting driving group; 32. a tray support; 33. supporting a disc sheet; 34. an empty tray in-place sensor; 40. a rack feeding assembly; 41. a second fixing plate; 42. a third lifting driving group; 43. a rack tray; 44. a drawing frame driving group; 45. an unlocking drive group; 46. a stopper; 46a, a first end portion; 46b, a second end; 461. a torsion spring; 50. a manipulator assembly; 51. a five-axis manipulator; 52. an adsorption component; 52a, adsorption state; 52b, inserting the material; 521. a third fixing plate; 522. A first slider; 523. a suction cup; 524. a calibration rod; 525. a first spring; 526. a material taking fool-proofing sensor; 5261. a first sensing piece; 527. a second slider; 528. a second spring; 529. a rack fool-proofing sensor; 5291. a second sensing piece; 53, a support frame; 60. a camera assembly; 70. a limiting plate; 80. an outer housing; 81. a display screen; 82. a control panel;

c1, first direction; c2, second direction; c3, third direction.

Detailed Description

In the following description, numerous implementation details are set forth in order to provide a more thorough understanding of the present invention. It should be understood, however, that these implementation details should not be used to limit the invention. That is, in some embodiments of the invention, details of these implementations are not necessary. In addition, some conventional structures and components are shown in simplified schematic form in the drawings.

It should be noted that all the directional indicators in the embodiments of the present invention, such as upper, lower, left, right, front and rear … …, are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture as shown in the drawings, and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for description purposes, not specifically referring to the order or sequence, and are not intended to limit the present invention, but only to distinguish the components or operations described in the same technical terms, and are not to be construed as indicating or implying any relative importance or implicit indication of the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

For further understanding of the contents, features and functions of the present invention, the following embodiments will be exemplified in conjunction with the accompanying drawings as follows:

examples

In the existing glass products, such as mobile phone screens and the like, the placing states of the glass products need to be converted when different processing procedures are converted in the processing process, for example, a flat glass plate is placed in an insertion frame; most of the existing manufacturers adopt a manual frame inserting mode, so that the labor consumption is high, the product damage risk is high, the production efficiency is low, and the reject ratio is high; therefore, a glass inserting frame machine is needed urgently, high-efficiency automatic feeding is realized, the risk of damage to products is reduced, and high-efficiency and high-quality production is realized; in order to solve the technical problem, the present embodiment provides the following technical solutions:

specifically, referring to fig. 1 to 12, the present embodiment provides a glass inserting frame machine, which includes a workbench 10, a first feeding rail 11 and a second feeding rail arranged on the workbench 10 side by side and extending along a first direction, and a robot assembly 50;

specifically, the first feeding rail 11 is sequentially distributed with a feeding area 111, a material taking area 112 and a discharging area 113 along a feeding direction;

specifically, an upper frame area 121, an inserting frame area 122 and a lower frame area 123 are sequentially distributed on the second feeding track along the feeding direction;

specifically, a tray feeding assembly 20 is arranged on the feeding area 111, and an empty tray stacking assembly 30 is arranged on the discharging area;

specifically, the rack loading area 121 is provided with a rack inserting and loading assembly 40;

specifically, a camera assembly 60 in signal connection with the manipulator assembly 50 is arranged above the material taking area 112 and the inserting frame area 122;

the tray loading assembly 20 is used for transferring a tray loaded with glass sheets to the first loading track 11, the inserting frame loading assembly 40 is used for transferring an inserting frame loaded with the glass sheets to the second track, and the manipulator assembly 50 enables the glass sheets horizontally placed on the tray to be vertically inserted on the inserting frame;

specifically, the trays are vertically stacked on the tray feeding assembly 20, and a space exists between adjacent trays;

further, the tray feeding assembly 20 includes a first lifting driving set 21, a tray mechanism 22, and a first clamping mechanism 23;

specifically, the first lifting driving set 21 moves back and forth along the second direction and can be supported below the tray;

specifically, the tray mechanisms 22 are disposed at two sides of the first feeding rail 11, and can extend into between the two trays and support the tray located above;

specifically, the first clamping mechanism 23 is disposed on the first lifting driving set 21 and can clamp two opposite sides of the tray;

specifically, the first loading rail 11 is located on a lifting path of the first lifting driving group 21, and the first lifting driving group 21 supports the tray along the second direction and transfers the tray to the first loading rail 11;

further, a first in-place sensor 116 in signal connection with the first feeding rail 11 is arranged on the material taking area 112 and used for monitoring whether the tray reaches a feeding position;

in the above solution, the first lifting driving set 21 lifts upwards along the second direction and supports under the tray, the tray mechanism 22 retracts to leave the lifting path of the tray, so that the first lifting driving set 21 drives the tray to move downwards smoothly, and after moving downwards to a certain height, the tray mechanism 22 extends into between two adjacent layers of trays to support the tray located above, at this time, the first clamping mechanism 23 draws close to and stabilizes the tray inwards, and at the same time, the first lifting driving set 21 continues to drive the tray to move downwards, and at this time, the tray located above is supported by the tray mechanism 22, so when the tray located below moves downwards further, the tray separating operation can be realized, when the tray continues to move downwards to a certain position, the first clamping mechanism 23 is far away from the tray and moves downwards integrally, the tray falls to the first feeding track 11, at this time, because the first lifting driving set drives the first clamping mechanism 23 to move downwards further, therefore, the first clamping mechanism 23 is lower than the conveying line surface of the first feeding rail 11, so that the tray can move to the material taking area 112 along with the first feeding rail 11; after the first sensor 116 that targets in place senses the position of tray, thereby the conveyer belt stops to remove and makes the tray stop, thereby the subassembly 60 of making a video recording passes through visual identification and sends signal to manipulator assembly 50, realizes that manipulator assembly 50's accuracy snatchs, shifts the glass piece that is located on the tray one by one to inserting on the frame, and the glass piece on the subassembly 60 discernment tray of making a video recording is snatched and is accomplished.

Specifically, all be provided with drive roller, conveyer belt and drive motor on first material loading track 11 and the second material loading track, this scheme is current transmission mode, so this application does not do too much to describe herein repeatedly.

Specifically, referring to fig. 1, an outer casing 80 is disposed on the upper frame of the workbench 10 for protecting each mechanism on the workbench 10; a display screen 81 and a control panel 82 are arranged on the outer shell 80, and the control panel 82 is a foldable control panel 82 capable of being hidden; the camera assembly 60 is disposed on the inner wall of the outer housing 80.

Specifically, referring to fig. 4, the first lifting driving unit 21 includes a closed-loop motor 211, a coupling 212, a screw rod, a connecting plate 216, a first fixing plate 214, and a first lifting plate 215; the coupler 212 is arranged between the closed-loop motor 211 and the screw rod and is connected with the driving end of the closed-loop motor 211; the connecting plate 216 is provided with a guide rod set and penetrates through the first fixing plate 214 to be fixedly connected with the first lifting plate 215, the screw rod is fixedly connected with the connecting plate 216, the closed-loop motor 211 drives the screw rod to rotate to drive the connecting plate 216 to lift, and the connecting plate 216 drives the first lifting plate 215 to lift through the guide rod set, so that the tray placed on the first lifting plate 215 is lifted.

Specifically, the first clamping mechanism 23 is disposed on two opposite sides of the first lifting plate 215, and includes a clip driving set 232 fixed on the first lifting plate 215, and a branch disc clip 231 disposed at a driving end of the clip driving set 232;

furthermore, the upper end part of the tray-dividing clamping piece 231 is arc-shaped, and one side of the tray-dividing clamping piece is close to the other side of the tray-dividing clamping piece; the clip driving unit 232 drives the split disc clips 231 to be drawn in or separated in the first direction, thereby clamping or releasing the tray.

Specifically, referring to fig. 5, the tray mechanism 22 includes a bracket 228, a tray driving cylinder 222, a tray top block 223, an insertion sheet 221, a first slide rail 224, a slide plate 227, a tray in-place sensor 226, and a tray dividing in-place sensor 225;

the bracket 228 is fixedly arranged on the workbench 10, the first slide rail 224 extends along a third direction and is arranged on the bracket 228, the slide plate 227 is arranged on the slide rail in a sliding manner, the tray driving cylinder 222 and the inserting piece 221 are both arranged on the slide plate 227, and the tray top block 223 is arranged at the driving end of the tray driving cylinder 222 and is fixedly connected with the bracket 228;

in the above scheme, a tray top block 223 of the tray driving cylinder 222 is a point of application, and slides back and forth along the third direction, and drives the insertion piece 221, which is also located on the sliding plate 227, to slide along the third direction in the sliding process, so that the insertion piece 221 extends into or is far away from the space between the trays.

Specifically, the tray in-place sensor 226 is disposed on the bracket 228 and is used for monitoring the position of the tray, and when the tray in-place sensor 226 monitors that the tray reaches a designated position, the first lifting drive group 21 starts the operation of the tray mechanism 22;

specifically, the tray-in-place sensor 225 is used to monitor whether the first clamping mechanism 23 is clamped in place.

Specifically, a first light source group 115 is arranged below the feeding area 111 of the first feeding rail 11, and when the tray reaches the feeding area 111, the first light source group 115 is opened, so that the whole view field is brighter, and the image pickup assembly 60 is convenient to acquire image information;

specifically, referring to fig. 6, the empty tray stacking assembly 30 includes tray supports 32 disposed at two sides of the first feeding rail, a tray sheet 33 pivotally connected to the tray supports 32, and a second lifting driving set 31 disposed below the tray;

the distance between the tray sheets 33 which are relatively positioned at the two sides of the first feeding track is smaller than the length of the tray along the third direction;

the second lifting driving group 31 lifts the tray along a second direction and turns the tray sheet 33, the tray sheet 33 is recovered under the action of gravity, and the upper surfaces of the tray sheets 33 are positioned on the same horizontal plane after recovery;

in the above scheme, after the glass sheets on the tray are transferred, the conveyor belt is opened again to transfer the no-load tray to the blanking area 113 continuously along the first direction, after the glass sheets are transferred to the designated position, the second lifting driving group 31 lifts the no-load tray, and the tray sheet 33 is located on the lifting path of the no-load tray, so that when the no-load tray is lifted, the tray sheet 33 is driven to turn over until the tray is lifted above the tray sheet 33, the tray sheet 33 returns to a straight state under the action of self gravity, and at this time, the second lifting driving group 31 drives the tray to move downwards to be placed on the straight tray sheet 33; in the scheme, the tray sheet 33 does not need to be additionally provided with a power mechanism to drive the tray sheet to turn over, and the second lifting drive is matched with the jacking process of the idle-load tray and the self turning mechanism to drive the idle-load tray, so that the idle-load tray is automatically cached;

further, the empty tray stacking assembly 30 further includes an empty tray position sensor 34, and when the empty tray reaches the designated position, the empty tray position sensor 34 detects the empty tray position and sends a signal to start the operation of the empty tray stacking assembly 30.

Specifically, referring to fig. 7, the rack loading assembly 40 includes a rack tray 43 for loading the rack, a third lifting driving set 42 for driving the rack tray 43 to move back and forth along the first direction, and a rack pulling driving set 44 for pulling the rack on the rack tray 43 to the second loading track along the first direction;

in the above scheme, after the third lifting drive group 42 lifts the rack tray 43 to a designated position along the first direction, the rack pulling drive group 44 transfers the empty rack from the rack tray 43 to the second loading track;

specifically, referring to fig. 7-8, the rack tray 43 is divided into a plurality of layers along the second direction, and a stop 46 is disposed on each layer of the rack tray 43 near the second feeding rail; an unlocking driving set 45 is arranged on the side edge of the material rack tray 43

Further, the stopper 46 is pivoted on the rack tray 43, a first end 46a of the stopper abuts against the side of the rack and limits the stopper to move towards the second track, and a second end 46b of the stopper is close to the unlocking driving set 45; a torsion spring 461 is arranged at the pivot joint of the stop block 46;

the unlocking driving set 45 pushes the second end 46b of the stopper 46 along the third direction and drives the stopper 46 to rotate along the pivot joint, so as to release the limitation of the first end 46a of the stopper 46 on the inserting frame;

in the scheme, the material rack trays 43 are divided into a plurality of layers, so that a plurality of groups of no-load inserting frames can be cached, and the stop blocks 46 are arranged on each layer of material rack trays 43, so that the positions of the inserting frames on the material rack trays 43 can be effectively limited, the inserting frames are prevented from being separated from the bearing range of the material rack trays 43, and meanwhile, the damage to equipment caused by clamping in the lifting process due to poor placing positions of the inserting frames is prevented; therefore, when the third lifting driving group 42 drives the rack tray 43 to lift, the stop block 46 limits the position of the rack; when the rack tray 43 reaches a designated position and the rack needs to be transferred to the second feeding track, the unlocking driving set 45 pushes the second end 46b of the stop block 46, the stop block 46 is pivoted on the rack tray 43, so that the stop block 46 is driven to rotate, the first end 46a of the stop block 46 is far away from the side edge of the rack, no obstacle exists on the side of the rack close to the second feeding track, and the rack can be brought to the second feeding by the rack pulling driving set 44; when the unlocking driving unit 45 is far away from the second end 46b of the stopper 46, the stopper 46 is reset under the elastic force of the torsion spring 461, and a limiting effect is formed again.

Specifically, a second light source group 125 is arranged below the inserting frame area 122 of the second feeding track, and when the second in-place sensor 126 monitors that the no-load inserting frame is conveyed to the inserting frame area 122, the second light source group 125 is opened, so that the peripheral view of the no-load inserting frame is bright, the camera assembly 60 can conveniently acquire image information of the inserting frame, and the accuracy of inserting materials is improved.

Specifically, referring to fig. 9, a second clamping mechanism 124 is disposed on the insertion frame area 122 at two sides of the second feeding rail; the second clamping mechanism 124 clamps and fixes the inserting frame along the third direction;

specifically, a second in-place sensor 126 in signal connection with the second feeding track is arranged on the rack insertion area 122 and is used for detecting whether the rack reaches the material insertion position;

in the scheme, the inserting frame and the second feeding track are transferred along the first direction, when the second in-place sensor 126 detects that the inserting frame is in place, the conveyor belt of the second feeding track stops to enable the inserting frame to stop moving, the camera assembly 60 acquires the position of the material frame and sends a signal to the second clamping mechanism 124 of the manipulator assembly 50 to clamp and fix the inserting frame from two sides of the inserting frame, and the manipulator assembly 50 inserts the glass sheets on the inserting frame one by one until the camera assembly 60 detects that the inserting frame is full of the glass sheets; second fixture 124 prevents effectively that the glass sheet in-process of inserting from inserting the frame and rocking to guarantee inserting going on smoothly of material process, promote and insert the material precision.

Specifically, referring to fig. 10-12, the robot assembly 50 includes a five-axis robot 51 and a suction assembly 52 at a driving end thereof;

specifically, the adsorption component 52 includes a suction cup 523 for adsorbing glass, a material taking fool-proof sensor 526 for monitoring the suction cup 523 to take material from the material taking region 112, and a rack insertion fool-proof sensor 529 for monitoring the suction cup 523 to insert the glass into the rack insertion region 122;

further, referring to fig. 12, the adsorption assembly 52 includes a third fixing plate 521, a first sliding block 522, a first spring 525, and a first sensing piece 5261 engaged with the material-taking fool-proof sensor 526; and a second slider 527, a second spring 528, a second sensing piece 5291 cooperating with the rack fool-proof sensor 529;

in the above scheme, when the sucker 523 sucks the glass sheet on the tray, the first slider 522 and the third fixing plate 521 slide and compress the first spring 525 along with the sucking and pressing of the sucker 523 on the glass sheet, and the first sensing piece 5261 senses the compression degree of the spring, so that the phenomenon that the glass sheet is damaged due to excessive pressing is effectively prevented, and the product quality is ensured; then, the adsorption assembly 52 is driven to turn over, the glass sheet is in a vertical state and is inserted into the insertion frame, in the insertion process, if the glass sheet is blocked, the second sliding block 527 slides and compresses the second spring 528, the second sensing piece 5291 senses the compression degree of the second spring 528, the insertion frame fool-proof sensor 529 monitors the pressing force of the adsorption assembly 52 during insertion, when the insertion is not performed, the insertion pressing force is larger, the insertion frame fool-proof sensor 529 is triggered to alarm, and therefore the phenomenon that the glass sheet is damaged due to the fact that the glass sheet is not successfully inserted into the insertion frame is effectively prevented.

Further, the device further comprises a calibration rod 524 detachably arranged on the adsorption assembly 52, and the calibration rod is used for performing position calibration between the adsorption assembly 52 and the camera assembly 60 before use, so that the accuracy of a subsequent displacement process is ensured;

specifically, referring to fig. 11, fig. 11 shows two states of the suction assembly 52, wherein one state is when the glass sheet is horizontally placed for suction, and the other state is when the glass sheet is turned over after suction and is inserted into the insertion frame.

Specifically, the manipulator assembly 50 is fixedly arranged on a support frame 53, the upper part of the support frame 53 is erected above the second track, and the inserting frame can penetrate through the support frame 53 and enter the lower frame area 123; by adopting the mode, the internal space is further compressed, so that the whole structure is more compact.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any form, and all the modifications and equivalents of the technical spirit of the present invention to any simple modifications of the above embodiments belong to the scope of the technical solution of the present invention.

Claims

1. The utility model provides a glass insertion frame machine which characterized in that: the automatic feeding device comprises a workbench, a first feeding rail, a second feeding rail and a manipulator assembly, wherein the first feeding rail and the second feeding rail are arranged on the workbench side by side and extend along a first direction;

the upper frame area is provided with an inserting frame feeding assembly;

the tray loading assembly is used for transferring the tray loaded with the glass sheets to the first loading rail, the inserting frame loading assembly is used for transferring the inserting frame loaded with the glass sheets to the second rail, and the mechanical arm assembly enables the glass sheets horizontally placed on the tray to be vertically inserted into the inserting frame.

2. The glass inserter of claim 1, wherein: the trays are vertically stacked on the tray feeding assembly, and a space is reserved between every two adjacent trays;

the tray feeding assembly comprises

the first clamping mechanism is arranged on the first lifting driving group and can be clamped at two opposite side edges of the tray.

3. The glass inserter of claim 2, wherein: the first loading track is located on a lifting path of the first lifting driving group, and the first lifting driving group supports the tray along a second direction and transfers the tray to the first loading track.

4. The glass inserter of claim 2, wherein: and a first arrival sensor in signal connection with the first feeding track is arranged on the material taking area and used for monitoring whether the tray reaches a feeding position.

5. The glass inserter of claim 1, wherein: the empty tray stacking assembly comprises tray supports arranged on two sides of the first feeding rail, tray sheets pivoted on the tray supports, and a second lifting driving group arranged below the trays;

the second lifting driving group jacks the tray along a second direction and enables the tray sheets to turn over, the tray sheets recover under the action of gravity, and the upper surfaces of the tray sheets are located on the same horizontal plane after recovery.

6. The glass inserter of claim 1, wherein: the manipulator assembly comprises a five-axis manipulator and an adsorption assembly at the driving end of the five-axis manipulator;

the adsorption component comprises a sucker for adsorbing glass, a monitoring sucker, a material taking fool-proof sensor and a monitoring sucker, wherein the sucker is arranged in the material taking area for taking materials, and the sucker is arranged in the inserting frame area for inserting the frame for inserting the fool-proof sensor.

7. The glass inserter of claim 1, wherein: the inserting frame feeding assembly comprises a material frame tray for loading an inserting frame, a third lifting driving group for driving the material frame tray to move back and forth along a first direction, and a material pulling frame driving group for pulling the inserting frame on the material frame tray to the second feeding track along the first direction.

8. The glass inserter of claim 7, wherein: the rack tray is divided into a plurality of layers along the second direction, and a stop block is arranged on one side, close to the second feeding rail, of each layer of rack tray; an unlocking driving set is arranged on the side edge of the material rack tray

the unlocking driving group pushes the second end part of the stop block along the third direction and drives the stop block to rotate along the pivoting part of the stop block, and the limit of the first end part of the stop block on the inserting frame is released.

9. The glass inserter of claim 1, wherein: second clamping mechanisms are arranged on the two sides of the second feeding rail in the inserting frame area; and the second clamping mechanism clamps and fixes the inserting frame along a third direction.

10. The glass inserter of claim 1, wherein: and a second in-place sensor in signal connection with the second feeding track is arranged on the inserting frame area and used for detecting whether the material frame reaches the inserting position.