CN110002229A - A kind of glass raw material material fetching mechanism, technique and split blade type loading and unloading manipulator - Google Patents

Abstract

The invention discloses a glass raw material reclaiming mechanism, a process and a split-type loading and unloading manipulator, which comprises a support arm and a material box, wherein the glass raw material is placed in the material box and an air blowing mechanism is arranged adjacent to the glass raw material. The support arm is fixed with a reclaiming bracket, the lower end of the reclaiming bracket is provided with a plurality of vacuum suction cups, a propulsion mechanism is fixed on the reclaiming bracket, and a push block is arranged at the driving end of the propulsion mechanism. When the material is reclaimed, the support arm drives the reclaiming bracket It moves and uses the vacuum suction cups to absorb the glass raw material on the top layer of the material box and then rises by a preset distance. The push block is driven by the propulsion mechanism to push down and apply thrust, and the glass raw material on the top layer is driven by the cooperation of multiple vacuum suction cups and the push block. Bending and deformation, the glass raw material on the top layer is opened relative to the glass raw material attached to the lower layer, and at the same time, the glass raw material is blown from the side by the blowing mechanism to make the glass raw material attached to the lower layer fall off. The invention can avoid grabbing multiple pieces of raw materials at the same time, and is helpful to improve the work efficiency.

Description

A glass raw material reclaiming mechanism, process and sliced loading and unloading manipulator

technical field

The invention relates to a glass sheet taking and unloading device, in particular to a glass raw material reclaiming mechanism, a process and a split-type loading and unloading manipulator.

Background technique

In the prior art, the manipulator of the glass engraving machine is generally designed to move along three axes of XYZ, the vacuum chuck fixture can move along the three axes of XYZ, and the material box is placed in the front of the manipulator. When feeding, the vacuum suction cup fixture moves to a specific position, takes out the glass sheet from the material frame, and places it on the machine table, and the machine tool starts processing; when unloading, after the machine tool processing is completed, the vacuum suction cup fixture grabs the finished product and puts it into the material frame to complete the process. Loading and unloading at one time. However, the existing loading and unloading scheme must be matched with a "plug-in" material box, that is, there is a gap between the raw materials, so that a material box contains between 20-50 pieces, and the machine tool stops intermittently after the material processing is completed. material! lead to prolonged time.

The structure of the manipulator of the existing glass engraving machine is complex. Because the glass engraving machine is used in a relatively harsh environment, the shortcomings of the manipulator are also obvious, which are mainly reflected in the following points: First, the manipulator is often designed in a one-to-one manner, that is, one action. Picking up or placing a piece of glass, the loading and unloading efficiency is low; secondly, the glass pieces are stacked in the material box, in order to prevent two or more pieces being sucked at a time due to the surface tension of water between the glass pieces; in addition, The material box is generally open, which cannot prevent the contamination of the glass sheet by impurities in the cooling liquid.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide a glass raw material reclaiming mechanism and process which can realize slicing with a simple structure, can avoid grabbing multiple pieces of raw materials at the same time, and help improve work efficiency, aiming at the deficiencies of the prior art. And sliced loading and unloading manipulator.

In order to solve the above technical problems, the present invention adopts the following technical solutions.

A glass raw material reclaiming mechanism, which includes a movable support arm and a material box located under the support arm, wherein glass raw material and an air blowing mechanism arranged adjacent to the glass raw material are placed in the material box , a reclaiming bracket is fixed on the support arm, the lower end of the reclaiming bracket is provided with a plurality of vacuum suction cups, a propulsion mechanism is fixed on the reclaiming bracket, and the driving end of the propulsion mechanism is provided with a push block, so The push block is located in the middle of a plurality of vacuum suction cups. When the material is taken out, the support arm drives the reclaiming bracket to move, and uses the vacuum suction cup to absorb the glass raw material on the top layer of the material box and then rises by a preset distance. The push block is driven downward by the push mechanism, and the push block is used to exert a thrust on the glass raw material on the top layer, and the glass raw material on the top layer is driven to bend and deform under the cooperative action of a plurality of vacuum suction cups and the push block, resulting in The glass raw material on the top layer is opened relative to the glass raw material attached to the lower layer, and meanwhile, the glass raw material is blown from the side by the blowing mechanism, so that the glass raw material attached to the lower layer falls off.

Preferably, the lower end of the push block is formed with a downwardly protruding arc surface.

Preferably, the propulsion mechanism is an air cylinder.

Preferably, the material box includes a bottom plate, and the bottom plate is provided with a plurality of loading stations for placing the glass raw material.

Preferably, at least two positioning blocks are fixed on the bottom plate, the air blowing mechanism includes a positioning frame, the positioning frame is fixedly connected to the bottom plate, and the positioning frame and the positioning block are enclosed to form a material carrier bit.

Preferably, the positioning frame is provided with a plurality of blowing holes for outputting air flow.

Preferably, the plurality of blowing holes are arranged in sequence along the vertical direction.

Preferably, two mutually parallel sliding rails are fixed on the enclosure, the sliding rails are provided with sliding blocks and the two are slidably connected, the material box includes a protective door, and two ends of the protective door are respectively Fixed connection to the sliders on both rails.

A glass raw material reclaiming process, the process is realized based on a glass raw material reclaiming mechanism, and the glass raw material reclaiming mechanism includes a movable support arm and a material box located under the support arm, and the material box is placed in the material box. There is glass raw material and an air blowing mechanism arranged adjacent to the glass raw material, a reclaiming bracket is fixed on the support arm, a plurality of vacuum suction cups are arranged on the lower end of the reclaiming bracket, and the reclaiming bracket is fixed on the There is a propulsion mechanism, the driving end of the propulsion mechanism is provided with a push block, and the push block is located in the middle of a plurality of vacuum suction cups. The process includes the following process: Step S1, the support arm drives the reclaiming bracket to move Steps S2, under the cooperative action of a plurality of vacuum suction cups and the push block, the glass raw material of the top layer is driven to bend and deform, so that the glass raw material of the top layer is opened relative to the glass raw material attached to the lower layer, and at the same time, the blowing mechanism is used to push the glass raw material from the side to the side. The glass raw material is blown to make the glass raw material attached to the lower layer fall off.

A split-type loading and unloading manipulator, which includes a left and right translation mechanism, a lifting mechanism, a front and rear translation mechanism, a discharging box and the reclaiming mechanism, and the support arm is arranged on the front and rear translation mechanism, and is controlled by the The front and rear translation mechanism drives the support arm to translate back and forth, the front and rear translation mechanisms are arranged on the lifting mechanism, and the front and rear translation mechanisms are driven by the lifting mechanism to rise or fall, and the lifting mechanism is provided on the left and right sides. On the translation mechanism, the lifting mechanism is driven to translate left and right by the left and right translation mechanism, and the discharge box is arranged adjacent to the material box. With the cooperation of the mechanism, the glass raw material in the material box is taken out and placed in the discharge box.

In the glass raw material reclaiming mechanism disclosed in the present invention, when the supporting arm drives the reclaiming bracket to move until the vacuum suction cup contacts and absorbs the glass raw material, and then the supporting arm drives the reclaiming bracket to rise slightly by a small distance. There may be one or more pieces of glass raw material attached to the glass raw material on the top layer and picked up at the same time. At this time, the pushing mechanism drives the push block to push the middle position of the glass raw material, so that the glass raw material is bent and deformed. At the same time, the glass raw material is blown from the side, and the glass raw material in the lower layer is separated from the glass raw material in the top layer under the action of the gravity of the glass raw material and the pressure of the differential air flow, thereby realizing the slicing action. Compared with the prior art In terms of the structure of the present invention is simpler, it can avoid grabbing multiple pieces of raw materials at the same time. In practical application, multiple reclaiming brackets can be set on each support arm, so it is helpful to improve the working efficiency of material reclaiming and better meet the requirements of application requirements.

Description of drawings

Fig. 1 is the structure diagram of loading and unloading manipulator;

Fig. 2 is the structure diagram of the reclaiming mechanism;

Fig. 3 is the structure diagram of the material box;

4 is a structural diagram of a positioning block;

Figure 5 is a schematic diagram of the action process of the reclaiming mechanism.

Detailed ways

The present invention will be described in more detail below with reference to the accompanying drawings and embodiments.

The present invention discloses a glass raw material reclaiming mechanism, please refer to FIG. 2 to FIG. 4 , which includes a movable support arm 10 and a material box 20 located under the support arm 10 , and a material box 20 is placed in the material box 20 The glass raw material 21 and the blowing mechanism arranged adjacent to the glass raw material 21, a reclaiming bracket 11 is fixed on the support arm 10, and a plurality of vacuum suction cups 12 are arranged on the lower end of the reclaiming bracket 11. A propulsion mechanism 13 is fixed on the reclaiming bracket 11 , and a push block 14 is provided at the driving end of the propulsion mechanism 13 , and the push block 14 is located in the middle of the plurality of vacuum suction cups 12 . The reclaiming support 11 moves and uses the vacuum suction cup 12 to absorb the glass raw material 21 on the inner top layer of the material box 20 and then rises by a preset distance, and the pushing mechanism 13 drives the push block 14 to push down, using The push block 14 exerts a thrust on the glass raw material 21 on the top layer, and drives the glass raw material 21 on the top layer to bend and deform under the cooperative action of the plurality of vacuum suction cups 12 and the push block 14, so that the glass raw material 21 on the top layer is relatively attached to the lower layer. The glass raw material is opened, and at the same time, the glass raw material 21 is blown from the side by the blowing mechanism, so that the glass raw material attached to the lower layer falls off.

In the above structure, please refer to FIG. 5 , when the support arm 10 drives the reclaiming support 11 to move until the vacuum suction cup 12 contacts and absorbs the glass raw material 21 , and then the support arm 10 drives the reclaiming support 11 to rise slightly by a small distance. , at this time, one or more pieces of glass raw material 21 may be attached to the top glass raw material 21 and picked up at the same time. At this time, the push mechanism 13 drives the push block 14 to the middle position of the glass raw material 21 Pushing force is applied to make the glass raw material 21 bend and deform. At this time, the glass raw material 21 on the top layer is opened at a certain angle relative to the glass raw material attached to the lower layer. At the same time, the glass raw material 21 is blown from the side. Under the pressure of the differential airflow, the lower glass raw material 21 is separated from the top glass raw material 21, thereby realizing the slice action. Compared with the prior art, the structure of the present invention is simpler and can avoid grabbing multiple slices at the same time. For raw materials, in practical applications, each support arm 10 can be provided with a plurality of reclaiming brackets 11 , which helps to improve the efficiency of reclaiming and better meets application requirements.

As a preferred manner, a downwardly protruding arc surface 140 is formed on the lower end of the push block 14 . The arc surface 140 helps to match with the surface of the glass raw material 21 when the glass raw material 21 is bent.

In this embodiment, the propulsion mechanism 13 is an air cylinder. However, this is only a preferred embodiment of the present invention. In practical applications, the propulsion mechanism 13 can also be a linear module composed of a motor, a screw rod, and a screw pair, and these mechanisms are all of the present invention. Alternative solutions should therefore be included within the protection scope of the present invention.

Regarding the specific structure of the material box, in this embodiment, the material box 20 includes a bottom plate 200 , and the bottom plate 200 is provided with a plurality of loading stations for placing the glass raw material 21 .

As a preferred manner, at least two positioning blocks 202 are fixed on the bottom plate 200 , and the air blowing mechanism includes a positioning frame 203 , the positioning frame 203 is fixedly connected to the bottom plate 200 , and the positioning frame 203 is connected to the base plate 200 . The positioning blocks 202 are enclosed to form a loading station.

In order to achieve constant airflow output, further, the positioning frame 203 is provided with a plurality of blowing holes 204 for outputting airflow. In this embodiment, a round bar 209 is arranged on the positioning block 202 and the positioning frame 203. The round bar 209 is in the shape of a long strip, and the round bar 209 extends in the vertical direction. and the positioning frame 203 for positioning.

In this embodiment, the total length of the plurality of blowing holes 204 arranged in sequence along the vertical direction is 5 mm. The vertically centrally arranged air blowing holes 204 are helpful for positioning air blowing when picking up each layer of glass raw material 21 , ensuring that an instant air flow can be obtained every time the glass raw material 21 is sliced. The above-mentioned plurality of blowing holes 204 are vertically densely arranged, and this dense pinhole blowing method can make the air flow stronger. 204 blows air to the grabbed glass at the same time to achieve the effect of slicing.

In this embodiment, two parallel slide rails 205 are fixed on the enclosure plate 201 , the slide rails 205 are provided with sliders 206 and the two are slidably connected, and the material box 20 includes a protective door 207 . Both ends of the protective door 207 are fixedly connected to the sliding blocks 206 on the two sliding rails 205 respectively. The protective door 207 can be opened and closed under the cooperation of the sliding rail 205 and the sliding block 206. When the material needs to be reclaimed, the protective door 207 can be opened, and when the material reclaiming is completed, the protective door 207 can be closed. The protective door 207 avoids contamination of the glass raw material 21 . However, this is only a preferred embodiment of the present invention, and in practical applications, the protective door 207 can also be configured to be a structure that can be opened and closed by rotation.

In order to realize automatic door opening and closing control, in this embodiment, a door opening and closing cylinder 208 is provided on the protective door 207 , and the driving end of the door opening and closing cylinder 208 is connected to the enclosure plate 201 .

The present invention also relates to a glass raw material reclaiming process. The process is realized based on a glass raw material reclaiming mechanism. Please refer to FIG. 2 to FIG. 4 . The glass raw material reclaiming mechanism includes a movable support arm 10 and a The material box 20 under the support arm 10, the glass raw material 21 and the blowing mechanism arranged adjacent to the glass raw material 21 are placed in the material box 20, and the material reclaiming bracket 11 is fixed on the support arm 10, so The lower end of the reclaiming bracket 11 is provided with a plurality of vacuum suction cups 12 , a propulsion mechanism 13 is fixed on the reclaiming bracket 11 , and a push block 14 is arranged at the driving end of the propulsion mechanism 13 , and the push block 14 is located in a plurality of At the middle of the vacuum suction cup 12, the process includes the following processes:

In step S1 , the support arm 10 drives the reclaiming support 11 to move, and the glass raw material 21 on the inner top layer of the material box 20 is adsorbed by the vacuum suction cup 12 and then rises by a preset distance, and the propulsion mechanism 13 drives the glass raw material 21 . The push block 14 is pushed down, and the push block 14 is used to push the glass raw material 21 on the top layer;

In step S2, the glass raw material 21 of the top layer is driven to bend and deform under the cooperative action of the plurality of vacuum suction cups 12 and the push block 14, so that the glass raw material 21 of the top layer is opened relative to the glass raw material attached to the lower layer, and the blowing air is used at the same time. The mechanism blows the glass raw material 21 from the side to make the glass raw material attached to the lower layer fall off.

In the above process, the step of pushing the push block 14 downward by the push mechanism 13 can be performed during the rising process after the vacuum suction cup 12 sucks the glass raw material 21, or it can be carried out when the vacuum suction cup 12 sucks the glass raw material 21 and rises to The execution is performed after the preset position, and the above execution sequence is a flexible setting made on the basis of the structure and process of the present invention, and therefore should be included within the protection scope of the present invention.

The above-mentioned reclaiming mechanism can be applied to a split-type loading and unloading manipulator. As shown in Figures 1 to 5, it includes a left and right translation mechanism 1, a lifting mechanism 2, a front and rear translation mechanism 3, a discharge box 4 and the described Reclaiming mechanism, the support arm 10 is arranged on the front and rear translation mechanism 3, and the front and rear translation mechanism 3 drives the support arm 10 to translate back and forth, and the front and rear translation mechanism 3 is provided on the lift mechanism 2. , and the front and rear translation mechanism 3 is driven up or down by the lifting mechanism 2, the lifting mechanism 2 is arranged on the left and right translation mechanism 1, and the left and right translation mechanism 1 drives the lifting mechanism 2 to translate left and right , the discharge box 4 is arranged adjacent to the material box 20, and the left and right translation mechanism 1, the lifting mechanism 2, the front and rear translation mechanism 3 and the reclaiming mechanism cooperate with each other. The glass raw material 21 is taken out and placed in the discharging box 4 .

In a preferred embodiment of the present invention, a specially designed vacuum chuck fixture is used, which can effectively reduce the situation of grabbing multiple pieces of glass when taking out the glass. When grabbing the glass sheet, after the jig moves to a specific position, the vacuum suction cup sucks the glass sheet. Due to the light weight of a single piece of glass, it is difficult to overcome the adsorption force generated by the sheet sticking together and the water vapor interference of the machine tool itself, resulting in the vacuum suction cup. After sucking the glass, sticking is very likely to occur. At this time, the air cylinder in this embodiment starts to press the raw material to be processed. The upper glass sheet is sucked by the suction cup, and the push block acts downwards, using the toughness of the glass itself to bend the upper glass and keep the lower glass in a straight line. The separation of the two pieces of glass is completed. The joint action of gravity ensures the success rate of sharding.

Compared with the prior art, the glass raw material reclaiming mechanism and the sliced loading and unloading manipulator disclosed by the present invention have the following beneficial effects: first, the present invention makes full use of the toughness of glass to force the first material to be grasped under physical action. Elastic deformation, simple telescopic movement or elastic movement can complete the task of separating and falling off the adhesive sheet. Secondly, the invention relies on the expansion and contraction of the cylinder, utilizes the toughness of the glass, uses a vacuum suction cup to suck up and lifts the glass, and then completes the slicing under the impact of the bullet driven by the cylinder. , the action is precise, fast and the fragmentation effect is high. Thirdly, the present invention omits the artificial raw material inserting process and saves labor costs. In addition, the present invention utilizes a new slicing method, which overcomes the problem of glass stacking and bonding, increases the amount of raw materials that can be accommodated in the same space by dozens of times, reduces the number of raw material installations, saves manpower, and increases the automation of machine tools. The length of the cycle processing improves the processing efficiency of the machine tool.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. All modifications, equivalent replacements or improvements made within the technical scope of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A glass raw material reclaiming mechanism is characterized in that, comprising a movable support arm and a material box located under the support arm, wherein glass raw material is placed in the material box and is located adjacent to the glass raw material. The air blowing mechanism is fixed on the support arm, a reclaiming bracket is fixed on the support arm, a plurality of vacuum suction cups are arranged at the lower end of the reclaiming bracket, a propulsion mechanism is fixed on the reclaiming bracket, and the driving end of the propulsion mechanism is provided with There is a push block, which is located in the middle of a plurality of vacuum suction cups. When the material is taken out, the support arm drives the material take-up bracket to move, and the vacuum suction cup is used to absorb the glass raw material on the top layer of the material box. Lifting a preset distance, the push block is driven downward by the push mechanism, and the push block is used to push the glass raw material on the top layer, and the glass on the top layer is driven by the cooperation of a plurality of vacuum suction cups and the push block. The raw material is bent and deformed, so that the glass raw material on the top layer is opened relative to the glass raw material attached to the lower layer, and meanwhile, the glass raw material is blown laterally by the blowing mechanism to make the glass raw material attached to the lower layer fall off. 2 . The glass raw material reclaiming mechanism according to claim 1 , wherein the lower end of the push block is formed with a downwardly protruding arc surface. 3 . 3 . The glass raw material reclaiming mechanism according to claim 1 , wherein the propulsion mechanism is an air cylinder. 4 . 4 . The glass raw material reclaiming mechanism according to claim 1 , wherein the material box comprises a bottom plate, and the bottom plate is provided with a plurality of loading stations for placing the glass raw material. 5 . 5 . The glass raw material reclaiming mechanism according to claim 4 , wherein at least two positioning blocks are fixed on the bottom plate, the blowing mechanism includes a positioning frame, and the positioning frame is fixedly connected to the The bottom plate, the positioning frame and the positioning block are enclosed to form a loading station. 6 . The glass raw material reclaiming mechanism according to claim 5 , wherein the positioning frame is provided with a plurality of blowing holes for outputting air flow. 7 . 7 . The glass raw material reclaiming mechanism according to claim 6 , wherein the plurality of blowing holes are arranged in sequence along the vertical direction. 8 . 8 . The glass raw material reclaiming mechanism according to claim 4 , wherein two mutually parallel slide rails are fixed on the enclosure plate, and the slide rails are provided with sliders and the two are slidably connected, so the The material box includes a protective door, and two ends of the protective door are respectively fixedly connected with the sliders on the two sliding rails. 9. A glass raw material reclaiming process, characterized in that the process is realized based on a glass raw material reclaiming mechanism, and the glass raw material reclaiming mechanism comprises a movable support arm and a material box located under the support arm, The glass raw material and the blowing mechanism arranged adjacent to the glass raw material are placed in the material box, a reclaiming bracket is fixed on the support arm, and the lower end of the reclaiming bracket is provided with a plurality of vacuum suction cups, so A propulsion mechanism is fixed on the reclaiming support, and the driving end of the propulsion mechanism is provided with a push block, and the push block is located in the middle of a plurality of vacuum suction cups. The process includes the following processes: Step S1, the support arm drives the reclaiming support to move, the glass raw material on the top layer in the material box is adsorbed by the vacuum suction cup, and then rises by a preset distance, and the push block is driven downward by the push mechanism, Use the push block to push the glass raw material on the top layer; Step S2, under the cooperative action of a plurality of vacuum suction cups and the push block, the glass raw material of the top layer is driven to bend and deform, so that the glass raw material of the top layer is opened relative to the glass raw material attached to the lower layer, and the blowing mechanism is used to move the glass material from the side to the side. The glass raw material is blown to make the glass raw material attached to the lower layer fall off. 10. A split-type loading and unloading manipulator, characterized in that it includes a left-right translation mechanism, a lifting mechanism, a front-rear translation mechanism, a feeding box and the reclaiming mechanism according to any one of claims 1-9, the support The arm is arranged on the front and rear translation mechanism, and the front and rear translation mechanism drives the support arm to translate back and forth, the front and rear translation mechanism is arranged on the lifting mechanism, and the front and rear translation mechanism is driven by the lifting mechanism. Up or down, the lifting mechanism is arranged on the left-right translation mechanism, and the left-right translation mechanism drives the lifting mechanism to translate left and right, and the discharging box is arranged adjacent to the material box. With the cooperation of the left and right translation mechanism, the lifting mechanism, the front and rear translation mechanism and the reclaiming mechanism, the glass raw material in the material box is taken out and placed in the discharge box.