CN218595512U

CN218595512U - Guide rail, material rack positioning device thereof and windshield material rack suitable for guide rail

Info

Publication number: CN218595512U
Application number: CN202222778962.2U
Authority: CN
Inventors: 孙建涛; 张梅梅; 孙治国
Original assignee: FAW Volkswagen Automotive Co Ltd
Current assignee: FAW Volkswagen Automotive Co Ltd
Priority date: 2022-10-21
Filing date: 2022-10-21
Publication date: 2023-03-10
Anticipated expiration: 2032-10-21

Abstract

The utility model provides a guide rail, a rack positioning device thereof and a windshield rack suitable for the guide rail, wherein the guide rail comprises a first roller wheel which is provided with a plurality of first rollers and a guide part provided with a plurality of second rollers, and the extending directions of the plurality of first rollers and the plurality of second rollers are provided with obtuse angles of not less than 150 degrees; and the free end of the guide part is provided with a third roller, the axial extension direction of the third roller is consistent with the axial extension direction of the second roller, and the wall of the third roller forms the end face of the free end. The positioning device comprises two guide rails and a Y-direction positioning mechanism, wherein the two guide rails are arranged in parallel and opposite to each other at the abutting part. The utility model discloses a guide rail simple structure can guide the work or material rest to reduce the wearing and tearing to the work or material rest. This work or material rest positioner can realize holding tightly of accurate location and the Y direction of work or material rest X direction, requires lowly to the structure of work or material rest body, and it is easier with work or material rest matching, and the compatibility is high.

Description

Guide rail, material rack positioning device thereof and windshield material rack suitable for guide rail

Technical Field

The utility model relates to a positioner technical field, specific theory relates to a guide rail and work or material rest positioner and be suitable for its windshield work or material rest thereof.

Background

At present, before the automobile windshield glass is assembled, the windshield glass needs to be manually conveyed from a material frame and then put at an inlet mechanism of gluing equipment to finish the gluing process of the windshield glass. The windshield glass weighs about 13kg, the size (length) is about 1.8m x 1.2m, the weight is heavy, the size is large, and frequent bending is needed in the manual carrying process, so that the manual carrying is difficult, the mechanical engineering is poor, and workers are easy to fatigue. In addition, be limited by the rise of cost of labor, in order to reduce workshop cost of labor input, alleviate workshop operating pressure, improve degree of automation, need design to accomplish windshield's snatching, the transport work from the work or material rest through automatic grabbing device. Consequently, for the convenience of grabbing device work on the one hand, the windshield work or material rest need be fixed to the assigned position, prevents that the windshield work or material rest from taking place the displacement at grabbing device and snatching windshield in-process, influences grabbing device accuracy and snatchs windshield. On the other hand, in order to improve automation work efficiency, the time that grabbing device waits for windshield work or material rest to target in place needs to be reduced.

SUMMERY OF THE UTILITY MODEL

In order to solve the part or whole of above-mentioned technical problem, the utility model provides a guide rail and work or material rest positioner and be suitable for its windscreen work or material rest through two first running rollers that set up in opposite directions, makes the work or material rest restrict between two first running rollers, leads when removing the work or material rest simultaneously, makes the work or material rest location accurate.

The utility model provides a technical problem adopt following technical scheme:

a guide rail comprises a first roller, wherein the first roller comprises an abutting part with a plurality of first rollers and a guiding part with a plurality of second rollers, the extending direction of the arrangement of the first rollers and the extending direction of the arrangement of the second rollers form an included angle alpha, and the included angle alpha is an obtuse angle not less than 150 degrees; the axial extension direction of the first rollers is vertical to the extension direction of the first roller arrangement, the axial extension direction of the second rollers is vertical to the extension direction of the second roller arrangement, and the axial extension direction of the first rollers is consistent with the axial extension direction of the second rollers; the free end of the guide part is provided with a third roller, the axis extending direction of the third roller is consistent with the axis extending direction of the second roller, and the wall of the third roller forms the end face of the free end, so that the material rack is prevented from colliding with the guide rail when entering the guide rail.

Further, the guide rail also comprises a second roller, the second roller is provided with a plurality of fourth rollers, and the axial extension direction of the fourth rollers is perpendicular to the extension direction of the arrangement of the fourth rollers.

Furthermore, the first roller of the abutting part of the first roller forms a first contact plane, the fourth roller of the second roller forms a second contact plane, and the first contact plane is perpendicular to the second contact plane, so that the side surface of the first roller and the top surface of the second roller can be in contact with the material rack.

Further, the guide rail also comprises a first support, the first roller is fixed on the side face of the first support, the second roller is fixed on the top of the first support, the first contact plane is lower than the second contact plane, the guide rail is simpler in structure, higher in compatibility and easier to match with a material rack, and the requirement on the structure of the material rack is reduced.

Furthermore, the diameter of the third roller is larger than that of the second roller, so that the anti-collision effect of the third roller is better.

Further, the rack positioning device comprises an X-direction positioning mechanism and a Y-direction positioning mechanism, wherein the X-direction positioning mechanism comprises two guide rails and is used for positioning the X direction of the rack and preventing the rack from displacing in the X direction;

the Y-direction positioning mechanism comprises a second support, a first clamping plate, a second clamping plate and a turnover cylinder, the first clamping plate and the turnover cylinder are fixed on the second support, the second clamping plate is connected to the output end of the turnover cylinder, and the turnover cylinder is used for driving the second clamping plate to rotate from the horizontal direction to the vertical direction or from the vertical direction to the horizontal direction; when the second clamping plate rotates to the vertical direction, the plane where the second clamping plate is located is arranged in parallel and opposite to the first clamping plate, at the moment, the distance between the first clamping plate and the second clamping plate is matched with the thickness of the front end frame of the material rack, so that the second clamping plate can be matched with the first clamping plate to hold the front end frame of the material rack tightly when rotating to the vertical direction, and the material rack is prevented from being displaced in the Y direction; when the second pinch-off blades rotated to the horizontal direction, the bottom of the material rack was less than, the material rack was dodged in the advancing direction of the material rack, and the second pinch-off blades were prevented from influencing the advancing of the material rack.

Furthermore, the abutting parts of the first rollers of the two guide rails are arranged in parallel and oppositely and extend along the Y direction, and the distance between the abutting parts of the two first rollers is matched with the width of the underframe of the material rack provided with the trundles; the guide parts of the two first rollers form a bell mouth-shaped inlet, and the wide mouth of the bell mouth is far away from the abutting part of the first rollers, so that the material rack can conveniently enter between the two guide rails; the Y-direction positioning mechanism is arranged at the free end of the abutting part, and the first clamping plate faces the bell mouth direction.

Furthermore, a detection switch is arranged on the second support and used for detecting the position of the material rack, so that the material rack is tightly held by the action of the Y-direction positioning mechanism.

Furthermore, Y is to positioning mechanism two, holds the work or material rest more firm tightly.

Further, the material rack is suitable for the positioning device and comprises a material rack body and an automatic guide vehicle, wherein the material rack body is fixed on the automatic guide vehicle and used for placing windshield glass;

the rack body is provided with two side supporting plates, two bottom supporting plates, two end surface supporting plates and two end surface frames which are arranged on the underframe provided with the trundles;

the two side supporting plates extend along the Y direction and are respectively arranged on the outer side surfaces of the two wheel mounting frames, and the X-direction distance between the two side supporting plates is matched with the X-direction distance of the first contact planes of the abutting parts of the two first rollers, so that the material frame is limited between the abutting parts of the two first rollers in the X direction;

the two bottom supporting plates are respectively arranged at the bottom edge of the underframe, and the distance between the bottom supporting plates and the side supporting plates is set so that the bottom supporting plates can be placed on the second roller of the guide rail when the two side supporting plates are respectively abutted against the first contact planes of the abutting parts of the two first rollers;

two the front side plane of end face frame is fixed with two end face support boards respectively, the front side plane of end face support board is parallel with first clamp plate, the Y when the Y of the front side plane of end face support board and end face frame's rear side plane is parallel to distance and first clamp plate and second clamp plate is to interval looks adaptation, makes the work or material rest hold tightly by first clamp plate and second clamp plate in Y.

Compared with the prior art, the beneficial effects of the utility model reside in that:

(1) This guide rail simple structure can guide when getting into the guide rail to the work or material rest to reduce the wearing and tearing to the work or material rest.

(2) This work or material rest positioner can realize holding tightly of accurate location and the Y direction of work or material rest X direction, requires lowly to the structure of work or material rest body, and it is easier with work or material rest matching, and the compatibility is high.

(3) The part of the windshield glass rack, which is suitable for the positioning device, can be conveniently transformed and is easy to realize.

Drawings

Fig. 1 is a schematic view of the structure of the guide rail of the present invention.

Fig. 2 is a schematic view of a first support structure of the guide rail of the present invention.

Fig. 3 is the structure diagram of the material rack positioning device of the present invention.

Fig. 4 is the utility model discloses work or material rest positioner's Y is to positioning mechanism schematic structure.

Fig. 5 is the structural schematic diagram of the windshield glass frame of the present invention.

Fig. 6 is the schematic diagram of the in-place state of the material rack of the present invention.

Fig. 7 is an enlarged view of the present invention a.

Fig. 8 is a schematic view of the structure of the material warehouse of the present invention.

Fig. 9 is a schematic layout diagram of the laser sensor of the present invention.

In the figure: 100-a guide rail; 11-a first roller; 111-an abutment portion; 1111-a first roller; 112-a guide portion; 1121-second roll; 1122-third roll; 12-a second roller; 121-a fourth roller; 13-a first scaffold; 131-a connecting plate; a 200-Y direction positioning mechanism; 21-a second scaffold; 22-a first clamping plate; 23-a second clamping plate; 231-a linker arm; 24-a turnover cylinder; 241-an output shaft; 25-a detection switch; 300-a material rack; 31-a rack body; 311-a chassis; 3111-side support plates; 3112-a bottom support plate; 3113-face support plate; 3114-end face frame; 312-wheel mount; 313-casters; 32-Automated Guided Vehicle (AGV); 33-windshield glass; 400-material warehouse; 41-rolling doors; 42-a transmitter; 43-a receiver; 500-gripping means.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and examples.

In the description of the present invention, it should be noted that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, it should be noted that the terms "front", "back", "inner", "outer", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, or the orientation or position relationship that the utility model is usually placed when using, or the orientation or position relationship that the skilled person usually understands, only for the convenience of describing the utility model and simplifying the description, but do not indicate or imply that the equipment or element that is referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be interpreted as limiting the utility model. In addition, it should be noted that the directions "X" and "Y" are directions indicated by a coordinate system in the drawings, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

The utility model provides a guide rail 100, as shown in fig. 1, including first roller wheel 11, first roller wheel 11 is including butt portion 111 that has a plurality of first rollers 1111 and guide portion 112 that has a plurality of second rollers 1121, the extending direction that a plurality of first rollers 1111 were arranged and the extending direction that a plurality of second rollers 1121 were arranged have contained angle alpha, contained angle alpha is the obtuse angle that is not less than 150, and is preferred, 160 ° < alpha < 180, and more preferred, 170 ° < alpha < 178, for example, contained angle alpha is 175 °, 176 °, 177 °, etc. makes guide portion 112 outwards buckle slightly for butt portion 111, both plays the guide effect, avoids guide rail 100 to occupy great space again. The axial extension direction of the first rollers 1111 is perpendicular to the extension direction of the arrangement of the first rollers 1111, the axial extension direction of the second rollers 1121 is perpendicular to the extension direction of the arrangement of the second rollers 1121, and the axial extension direction of the first rollers 1111 is consistent with the axial extension direction of the second rollers 1121, so that when the material rest 300 touches the first rollers 1111 or the second rollers 1121 in the traveling process, each roller can rotate, and the friction between the material rest 300 and each roller is reduced. The free end of the guide part 112 is provided with a third roller 1122, the axial extension direction of the third roller 1122 is consistent with the axial extension direction of the second roller 1121, and the wall of the third roller 1122 forms an end face of the free end of the guide part 112, so that the material rack 300 is prevented from colliding with the guide rail 100 when entering the guide rail 100. Preferably, the diameter of the third roller 1122 is larger than that of the second roller 1121, so that the third roller 1122 has a better anti-collision effect.

The guide rail 100 further includes a second roller 12, the second roller 12 has a plurality of fourth rollers 121, and an axial extension direction of the fourth rollers 121 is perpendicular to an extension direction in which the plurality of fourth rollers 121 are arranged. The material rest 300 can be abutted against the wall of the first roller 1111 and the wall of the fourth roller 121, the first roller 1111 of the abutting part 111 of the first roller 11 forms a first contact plane, the fourth roller 121 of the second roller 12 forms a second contact plane, and the first contact plane is perpendicular to the second contact plane, so that the side surface of the first roller 11 and the top surface of the second roller 12 can both be in contact with the material rest 300.

The first roller 11 and the second roller 12 are fixedly connected through the first bracket 13, and the first contact plane is perpendicular to the second contact plane, the first roller 11 is fixed on the side surface of the first bracket 13, the second roller 12 is fixed on the top of the first bracket 13, preferably, the first contact plane is lower than the second contact plane, so that the guide rail 100 has a simpler structure and higher compatibility, is easier to match with the material rack 300, and reduces the requirement on the structure of the material rack 300. Specifically, as shown in fig. 2, an L-shaped connecting plate 131 may be disposed at the top of the first bracket 13, one side of the connecting plate 131 is fixed to the top of the first bracket 13, the other side of the connecting plate 131 extends downward and is fixed to the side of the first bracket 13, the first roller 11 is fixedly mounted on the connecting plate 131 at the side of the first bracket 13, and the second roller 12 is fixedly mounted on the connecting plate 131 at the top of the first bracket 13, so as to fix the first roller 11 and the second roller 12. Preferably, a plurality of first brackets 13 may be provided according to the extended length of the guide rail 100, one first bracket 13 is provided at each of both ends of the guide rail 100, and a plurality of brackets are provided at the middle portion of the guide rail 100, so that the first brackets 13 can stably support the first roller 11 and the second roller 12.

The utility model also provides a work or material rest positioner, as shown in fig. 3, including X to positioning mechanism and Y to positioning mechanism 200, X includes two to positioning mechanism guide rail 100 for to the X of work or material rest 300 to fixing a position, prevent that work or material rest 300 from taking place the displacement at X. Specifically, during installation, the two guide rails 100 are arranged oppositely, so that the abutting parts 111 of the first rollers 11 of the two guide rails 100 are arranged oppositely in parallel and extend along the Y direction, and the distance between the abutting parts 111 of the two first rollers 11 is matched with the width of the bottom frame 311 of the material rack 300 provided with the caster 313; the guide part 112 of the two first rollers 11 forms a bell mouth-shaped inlet, the wide mouth of the bell mouth is far away from the abutting part 111 of the first roller 11, so that the inlet of the guide rail 100 formed by the two first rollers 11 is the wide mouth of the bell mouth, and the material rack 300 can conveniently enter between the two guide rails 100.

As shown in fig. 4, the Y-direction positioning mechanism 200 includes a second bracket 21, a first clamping plate 22, a second clamping plate 23, and a flipping cylinder 24, wherein the first clamping plate 22 and the flipping cylinder 24 are fixed to the second bracket 21, the second clamping plate 23 is connected to an output end of the flipping cylinder 24, and the flipping cylinder 24 is configured to drive the second clamping plate 23 to rotate from a horizontal direction to a vertical direction or from a vertical direction to a horizontal direction. Specifically, the flipping cylinder 24 can drive the output shaft 241 extending along the X direction to rotate, two connecting arms 231 are respectively arranged on two sides of the second clamping plate 23, and the two connecting arms 231 are fixed at two ends of the output shaft 241 in parallel, so that the second clamping plate 23 is fixedly connected to the output end of the flipping cylinder 24, and the flipping cylinder 24 can drive the second clamping plate 23 to rotate from the horizontal direction to the vertical direction or from the vertical direction to the horizontal direction. When the second clamping plate 23 rotates to the vertical direction, the plane where the second clamping plate 23 is located is arranged in parallel and opposite to the first clamping plate 22, at this time, the distance between the first clamping plate 22 and the second clamping plate 23 is matched with the thickness of the front end frame of the rack 300, so that when the second clamping plate 23 rotates to the vertical direction, the second clamping plate can be matched with the first clamping plate 22 to hold the front end frame of the rack 300 tightly, and the rack 300 is prevented from being displaced in the Y direction. Preferably, the clamping surfaces of the first clamping plate 22 and the second clamping plate 23 are made of wear-resistant resin to prevent the material frame 300 from being worn. The Y-direction positioning mechanism 200 is disposed at a free end of the abutting portion 111, the first clamping plate 22 faces the bell mouth direction, the second clamping plate 23 is located on a traveling path of the rack 300, and when the second clamping plate 23 rotates to the horizontal direction, the second clamping plate is lower than the bottom of the rack 300 and can avoid the traveling direction of the rack 300, so that the second clamping plate 23 is prevented from affecting the traveling of the rack 300.

The second support 21 is provided with a detection switch 25 for detecting the position of the rack 300, so that the Y-direction positioning mechanism 200 acts to hold the rack 300 tightly. After the detection switch 25 detects that the rack 300 is located, the Y-direction positioning mechanism 200 drives the second clamping plate 23 to rotate to the vertical direction through the overturning air cylinder 24, and the second clamping plate cooperates with the first clamping plate 22 to hold the front end frame of the rack 300 tightly. Preferably, in order to make the Y-direction positioning of the rack 300 more stable, the number of the Y-direction positioning mechanisms 200 is two, and the free ends of the abutting portions 111 of the two guide rails 100 are respectively provided with one Y-direction positioning mechanism 200 to respectively hold the front end frames at the two sides of the rack 300 tightly, so that the rack 300 is held more stably.

The utility model also provides a windshield work or material rest, this work or material rest 300 is applicable to positioner, it is shown in combination fig. 5-7, work or material rest 300 includes work or material rest body 31 and Automatic Guided Vehicle (AGV) 32, work or material rest body 31 is fixed in AGV32 for place windshield 33. The stack body 31 has two side support plates 3111, two bottom support plates 3112, two end support plates 3113, and two end frames 3114 provided on the bottom frame 311 provided with the caster 313. The bottom frame 311 of the material rack body 31 is provided with casters 313 convenient for the material rack body 31 to move through the wheel mounting frames 312 on two sides, two the side supporting plates 3111 extend along the Y direction and are respectively arranged on the outer side surfaces of the two wheel mounting frames 312, and two the X direction distance between the side supporting plates 3111 is matched with the X direction distance of the first contact plane of the abutting parts 111 of the two first rollers 11, so that the material rack 300 is limited between the abutting parts 111 of the two first rollers 11 in the X direction, preferably, the left-right movement deviation of the material rack 300 between the abutting parts 111 of the two guide rails 100 is not more than 2mm.

The two bottom supporting plates 3112 are respectively disposed at the bottom edge of the bottom frame 311 and located outside the side supporting plates 3111, and the distance between the bottom supporting plates 3112 and the side supporting plates 3111 is such that the two side supporting plates 3111 are respectively abutted against the first contact planes of the abutting portions 111 of the two first rollers 11, and the bottom supporting plates 3112 can be placed on the second rollers 12 of the guide rail 100.

The front end frame of chassis 311 both sides does end face frame 3114, two end face frame 3114's front side plane is fixed with two end face support board 3113 respectively, can with first clamp plate 22 the position to the adaptation to increase clamping area, end face support board 3113's front side plane is parallel with first clamp plate 22, the Y of end face support board 3113's front side plane and end face frame 3114's rear side plane is to distance and first clamp plate 22 and the parallel Y of second clamp plate 23 to interval looks adaptation, makes work or material rest 300 hold tightly by first clamp plate 22 and second clamp plate 23 in the Y.

The utility model also provides an automatic grasping system of windshield, as shown in fig. 8, including grabbing device 500, material storehouse 400 and PLC controller. The gripping device 500 is provided with a switcher and a mechanical arm connected to the switcher, wherein the switcher is electrically connected with the PLC and used for controlling the switcher to switch the working position of the mechanical arm; the tail end of the mechanical arm is provided with a windshield clamp used for grabbing windshield glass 33. The material storehouse 400 is at least two, is provided with the glass detector in every material storehouse 400 for whether there is windshield glass 33 on detecting the work or material rest 300, the glass detector is connected with the PLC controller electricity.

Preferably, the two magazines 400 are arranged side by side, the AGVs 32 in the two magazines 400 convey the rack bodies 31 to the grabbing positions of the magazines 400, when the grabbing device 500 grabs the windshield 33 of one magazine 400 (defined as the # 1 magazine 400) and the glass detector cannot detect the windshield 33, a signal is sent to the PLC controller, the PLC controller controls the switcher of the grabbing device 500 to switch the working station of the mechanical arm, so that the switcher switches the mechanical arm to the other magazine 400 (defined as the # 2 magazine 400) to grab the windshield 33 of the magazine 400. The material storehouses 400 are arranged side by side, the grabbing device 500 can switch between the two material storehouses 400 to work, when all the windshield glass 33 in one material storehouse 400 is grabbed, the other material storehouse 400 can be automatically switched to grab the windshield glass 33, and the automatic working efficiency of the grabbing device 500 is improved.

As the utility model discloses a preferred embodiment still is provided with in every material storehouse 400 as above work or material rest positioner, Y is the occupy-place switch to the detection switch 25 of positioning mechanism 200, occupy-place switch is connected with the PLC controller electricity for detect the work or material rest 300 to the position condition, and with work or material rest 300 to position signal transmission to the PLC controller.

As a preferred embodiment of the present invention, the material warehouse 400 has a rolling door 41, the rolling door 41 is provided with a rolling door controller, and the rolling door controller is electrically connected to the PLC controller.

As a preferred embodiment of the present invention, the system further includes an alarm device, and the alarm device is electrically connected to the PLC controller.

Specifically, the working process of the windshield glass grabbing system is as follows:

the windshield work or material rest is for the aforesaid is applicable to positioner's work or material rest 300, including work or material rest body 31 and AGV32, when AGV32 takes work or material rest body 31 to move to first settlement position (outside the rolling slats door 41 of feed bin 400), AGV32 sends the signal that AGV32 reachs first settlement position and gives the PLC controller, and the PLC controller receives the signal and sends AGV32 to the rolling slats door controller and reachs first settlement position signal, and the rolling slats door controller opens rolling slats door 41, AGV32 and gets into feed bin 400.

After the AGV32 enters the magazine 400, it travels according to a preset path, it enters between two guide rails 100 from a bell mouth shaped entrance formed by the guiding parts 112 of two first rollers 11, guided by the guiding parts 112, the AGV32 enters the abutting parts 111 of two first rollers 11, it travels basically abutting against the first roller 1111, the first roller 1111 rotates to reduce the friction between it and the rack body 31, until the AGV32 enters the second setting position (grabbing position) between two guide rails 100, it stops after abutting against the first clamping plate 22, the AGV32 controls the rack body 31 to fall down onto the guide rails 100, and two bottom supporting plates 3112 of the rack 300 fall onto two second rollers 12 respectively. The AGV32 signals the PLC controller that a second set position is reached. At this time, the PLC controller sends a signal to the shutter door controller to close the shutter door 41, and after the shutter door 41 is closed, the shutter door controller sends a signal that the shutter door 41 is closed to the PLC controller. The roller shutter door controller may also close the roller shutter door 41 by a time delay device, when the roller shutter door 41 is opened, the AGV32 enters the storage 400 and then is delayed for a certain time to ensure that the roller shutter door 41 is closed after the AGV32 reaches the second set position, and the roller shutter door controller sends a signal that the roller shutter door 41 is closed to the PLC controller. After receiving the closing signal of the rolling door 41, the PLC controller controls the turning cylinder 24 to drive the second clamping plate 23 to rotate to the vertical direction, so that the Y-direction positioning mechanism 200 holds the rack 300 tightly. The detection switch 25 detects that the rack 300 is in place, and sends a rack 300-to-bit signal to the PLC controller. When the AGV32 reaches a second predetermined position in the magazine 400, the glass detector detects the windshield 33 and sends a signal to the PLC controller that the windshield 33 is placed on the stack 300. If the PLC receives the signal which is sent by the glass detector and carries the windshield glass 33 and the signal which is sent by the detection switch 25 and is sent by the material rack 300 in place, the PLC sends an instruction to the grabbing device 500, and the grabbing device 500 acts to grab the windshield glass 33. For example, the gripping device 500 may use a library card industrial robot, and after the library card robot receives a glass carrying command from the PLC controller, the C4 control system of the library card robot controls the windshield glass clamp to work, grips the windshield glass 33, and carries the windshield glass 33 to the inlet mechanism of the gluing device, thereby completing the gluing process of the windshield glass 33. When the PLC does not receive the signal which is sent by the glass detector and is loaded with the windshield glass 33 and the signal which is sent by the detection switch 25 and is in place by the material rack 300, the gripping device 500 is static, and the PLC controls the alarm device to send out an alarm signal to remind an operator to check and find out the fault reason.

The material warehouse 400 is two side by side, when the grabbing device 500 grabs the windshield 33 of the material warehouse 400 No. 1 and the glass detector cannot detect the windshield 33, the signal that the windshield 33 is grabbed is sent to the PLC, the PLC controls the switcher of the grabbing device 500 to switch the working stations of the mechanical arms, so that the switcher switches the mechanical arms to the material warehouse 400 No. 2 to grab the windshield 33 of the material warehouse 400. When the PLC receives a signal that the windshield glass 33 sent by the glass detector of the No. 1 material warehouse is grabbed, the PLC sends a signal to the roller door controller to control the roller door 41 to be opened, and controls the overturning air cylinder 24 of the No. 1 material warehouse 400 to drive the second clamping plate 23 to rotate to the horizontal direction, so that the material rack 300 exits from the positioning device, exits from the material warehouse 400, and then is replenished with a new material rack 300 loaded with the windshield glass 33. Like this, when grabbing device 500 snatchs 2# material storehouse 400's windshield 33, can supply 1# material storehouse 400's windshield 33, make grabbing device 500 need not wait that work or material rest 300 is to the position, can make grabbing device 500 automatic switch between two material storehouses 400, uninterrupted duty improves grabbing device 500's automatic work efficiency.

When the material racks 300 of the two material banks 400 are in place, and the PLC controller simultaneously receives the signal carrying the windshield glass 33 sent by the glass detectors of the two material banks 400 and the signal that the material rack 300 sent by the detection switch 25 is in place, the PLC controller controls the gripping device 500 to preferentially grip the windshield glass 33 in the material bank 400 which has received the closing signal of the roller shutter door 41 according to the first-in-first-use principle according to the closing signal of the roller shutter door 41 after the PLC controller reaches the second setting position according to the received AGV 32. Or the PLC controller may control the gripping device 500 to grip the windshield 33 of one of the magazines 400 through manual intervention.

In order to accurately feed back the grabbing condition of the windshield glass 33 in the material warehouse 400 to the PLC, the glass detector can adopt a laser sensor or a 3D imaging sensor. When the glass detector is a laser sensor, the emitter 42 and receiver 43 of the laser sensor are arranged diagonally with respect to the stack 300 to avoid the path of travel of the stack 300 and to enable the laser line beam emitted by the emitter 42 to be directed towards the windscreen 33. Preferably, as shown in fig. 9, there are two laser sensors, the emitter 42 of one laser sensor is disposed in front of the stack 300, and the emitter 42 of the other laser sensor is disposed behind the stack 300. Laser line bunch that two laser sensor launched is alternately, and the laser line bunch of arbitrary laser sensor launch is sheltered from, shows that windshield 33 still has on the work or material rest 300, and the laser line bunch of two laser sensor launches is not sheltered from, then shows that windshield 33 on the work or material rest 300 is whole to be snatched the completion, through launching from work or material rest 300 the place ahead and rear respectively to the laser line bunch that alternately sets up can be more accurate detect windshield 33 on the work or material rest 300 and snatch the condition, feed back to the PLC controller, control grabbing device 500 action.

As a preferred embodiment of the present invention, the gripping device 500 is further provided with a counter 52, the counter 52 is electrically connected to the PLC controller for measuring the amount of the windshield glass 33 gripped by the gripping device 500, and sending the measured amount signal to the PLC controller. When the PLC controller receives the signal from the counter 52, it indicates that the number of the windshields 33 grabbed by the grabbing device 500 from the # 1 magazine 400 reaches the preset number of the windshields 33 loaded on the rack 300, the PLC controller controls the switch 51 of the grabbing device 500 to operate, so that the switch 51 switches the mechanical arm to the # 2 magazine 400 to grab the windshields 33 in the # 2 magazine 400. Or when the PLC receives the signal of the counter 52 and shows that the number of the windscreens 33 grabbed by the grabbing device 500 in the 1# material warehouse 400 reaches the preset number of the windscreens 33 carried by the material rack 300 and receives the signal of the glass detector and shows that no windscreens 33 exist on the material rack 300, the PLC controls the action of the switcher 51 of the grabbing device 500, so that the switcher 51 switches the mechanical arm to the 2# material warehouse 400 to grab the windscreens 33 in the 2# material warehouse 400, the action of the switcher is controlled by the signal of the counter 52 and the signal of the glass detector together, the switching time is more accurate, the misoperation of the switcher is prevented, and the 1# material warehouse 400 is switched to the 2# material warehouse after the windscreens 33 are grabbed.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

Claims

1. A guide rail (100) comprising a first roller (11), the first roller (11) comprising an abutment portion (111) having a plurality of first rollers (1111) and a guide portion (112) having a plurality of second rollers (1121), the plurality of first rollers (1111) being aligned to extend in a direction having an angle α with the direction in which the plurality of second rollers (1121) are aligned, the angle α being an obtuse angle not less than 150 °; the axial extension direction of the first roller (1111) is vertical to the extension direction of the arrangement of the first roller (1111), the axial extension direction of the second roller (1121) is vertical to the extension direction of the arrangement of the second roller (1121), and the axial extension direction of the first roller (1111) is consistent with the axial extension direction of the second roller (1121); the free end of the guide part (112) is provided with a third roller (1122), the axial extension direction of the third roller (1122) is consistent with the axial extension direction of the second roller (1121), and the wall of the third roller (1122) forms the end face of the free end.

2. Guide rail (100) according to claim 1, characterized in that the guide rail (100) further comprises a second roller (12), the second roller (12) having a plurality of fourth rollers (121), the direction of extension of the axis of the fourth rollers (121) being perpendicular to the direction of extension of the array of the plurality of fourth rollers (121).

3. Guide rail (100) according to claim 2, characterized in that the first roller (1111) of the abutment portion (111) of the first roller (11) forms a first contact plane and the fourth roller (121) of the second roller (12) forms a second contact plane, the first contact plane being perpendicular to the second contact plane.

4. Guide rail (100) according to claim 3, characterized in that the guide rail (100) further comprises a first bracket (13), the first roller (11) being fixed to the side of the first bracket (13), the second roller (12) being fixed to the top of the first bracket (13), the first contact plane being lower than the second contact plane.

5. The guide rail (100) of any of claims 1-4, wherein the third roller (1122) has a diameter greater than a diameter of the second roller (1121).

6. A magazine positioning arrangement, comprising an X-direction positioning mechanism and a Y-direction positioning mechanism (200), the X-direction positioning mechanism comprising two guide rails (100) according to any one of claims 1-5;

the Y-direction positioning mechanism (200) comprises a second support (21), a first clamping plate (22), a second clamping plate (23) and a turnover cylinder (24), the first clamping plate (22) and the turnover cylinder (24) are fixed on the second support (21), the second clamping plate (23) is connected to the output end of the turnover cylinder (24), and the turnover cylinder (24) is used for driving the second clamping plate (23) to rotate from the horizontal direction to the vertical direction or from the vertical direction to the horizontal direction; when the second clamping plate (23) rotates to the vertical direction, the plane where the second clamping plate (23) is located and the first clamping plate (22) are arranged in parallel and oppositely, and at the moment, the distance between the first clamping plate (22) and the second clamping plate (23) is matched with the thickness of the front end frame of the material rack (300).

7. The stack positioning device according to claim 6, characterized in that the abutment portions (111) of the first rollers (11) of the two guide rails (100) are arranged in parallel opposite to each other and extend in the Y direction, and the spacing between the abutment portions (111) of the two first rollers (11) is adapted to the width of the base frame (311) of the stack (300) provided with the caster (313); the guide parts (112) of the two first rollers (11) form a bell mouth type inlet, and the wide mouth of the bell mouth is far away from the abutting part (111) of the first rollers (11); the Y-direction positioning mechanism (200) is arranged at the free end of the abutting part (111), and the first clamping plate (22) faces towards the bell mouth direction.

8. The stack positioning apparatus according to claim 6 or 7, wherein the second support (21) is provided with a detection switch (25) for detecting the position of the stack (300).

9. The stack positioning apparatus according to claim 6 or 7, wherein there are two Y-direction positioning mechanisms (200).

10. A windscreen stack, characterized in that the stack (300) is adapted to the positioning device according to any one of claims 6 to 9, said stack (300) comprising a stack body (31) and a robotized guided vehicle (32), said stack body (31) being fixed to the robotized guided vehicle (32) for placing a windscreen (33);

the material rack body (31) is provided with two side surface supporting plates (3111), two bottom surface supporting plates (3112), two end surface supporting plates (3113) and two end surface frames (3114) which are arranged on an underframe (311) provided with casters (313);

the two side supporting plates (3111) extend along the Y direction and are respectively arranged on the outer side surfaces of the two wheel mounting frames (312), and the X-direction distance between the two side supporting plates (3111) is matched with the X-direction distance of the first contact plane of the abutting parts (111) of the two first rollers (11);

the two bottom supporting plates (3112) are respectively arranged at the bottom edge of the bottom frame (311), and the distance between the bottom supporting plates (3112) and the side supporting plates (3111) enables the bottom supporting plates (3112) to be placed on the second roller (12) of the guide rail (100) when the two side supporting plates (3111) are respectively abutted to the first contact planes of the abutting parts (111) of the two first rollers (11);

two end face support plates (3113) are fixed on the front side plane of the end face frame (3114), the front side plane of the end face support plates (3113) is parallel to the first clamping plate (22), and the Y-direction distance between the front side plane of the end face support plates (3113) and the rear side plane of the end face frame (3114) is matched with the Y-direction distance between the first clamping plate (22) and the second clamping plate (23) when the two clamping plates are parallel.