CN112061787A

CN112061787A - Segmented grabbing device for glass loading and unloading, loading grabbing method and unloading grabbing method

Info

Publication number: CN112061787A
Application number: CN202011079079.3A
Authority: CN
Inventors: 袁兴祥; 王涛
Original assignee: Chongqing Kenlaite Machinery Equipment Co ltd
Current assignee: Chongqing Kenlaite Machinery Equipment Co ltd
Priority date: 2020-10-10
Filing date: 2020-10-10
Publication date: 2020-12-11
Anticipated expiration: 2040-10-10
Also published as: CN112061787B

Abstract

The invention provides a segmented gripping device for glass sheets, which comprises an upper sheet conveying mechanism, a lower sheet conveying mechanism, a glass frame and a PLC (programmable logic controller); the upper and lower piece conveying mechanisms comprise mechanism bases, transverse moving racks, traveling driving mechanisms, second roller conveying mechanisms and glass grabbing mechanisms; the transverse moving rack is arranged on the mechanism base in a transverse moving mode; the traveling driving mechanism is used for driving the transverse moving frame to horizontally move on the mechanism base along the front-back direction; the glass grabbing mechanism is arranged on the transverse moving rack in a turnover mode and used for grabbing glass on the second roller channel conveying mechanism and stacking the glass on the glass rack or grabbing glass stacked on the glass rack and placing the glass on the second roller channel conveying mechanism. The sectional grabbing device for the upper and lower pieces can effectively grab and separate the whole mixed glass with different specifications, and can avoid the phenomena of gaps, scratches, extrusion or crushing in the grabbing process of the upper and lower pieces of glass.

Description

Segmented grabbing device for glass loading and unloading, loading grabbing method and unloading grabbing method

Technical Field

The invention belongs to the technical field of glass deep processing and carrying, and particularly relates to a segmented grabbing device for upper and lower glass sheets, an upper sheet grabbing method and a lower sheet grabbing method.

Background

In the glass deep processing process, the glass on the glass frame needs to be grabbed out and conveyed out for processing, and the processed glass needs to be conveyed and stacked on the glass frame. The existing segmented gripping device for the upper and lower glass sheets cannot effectively grip and separate the whole mixed glass of different specifications, and the phenomena of gaps, scratches, extrusion or crushing are easy to occur in the gripping process of the upper and lower glass sheets.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides a segmented gripping device for upper and lower glass sheets, which aims to effectively grip and separate the whole mixed glass with different specifications and avoid the phenomena of gaps, scratches, extrusion or crushing in the gripping process of the upper and lower glass sheets.

The invention is realized by the following technical scheme:

a segmented gripping device for glass sheets comprises an upper sheet conveying mechanism, a lower sheet conveying mechanism, a glass frame and a PLC (programmable logic controller);

the upper and lower piece conveying mechanisms comprise mechanism bases, transverse moving racks, traveling driving mechanisms, second roller conveying mechanisms and glass grabbing mechanisms;

the transverse moving rack is arranged on the mechanism base in a transverse moving mode;

the walking driving mechanism is arranged between the mechanism base and the transverse moving rack and is used for driving the transverse moving rack to horizontally move on the mechanism base along the front-back direction;

the second roller channel conveying mechanism is arranged on the transverse moving rack and is used for horizontally conveying the glass in the left and right directions;

the glass grabbing mechanism is arranged on the transverse moving rack in a turnover mode and is used for grabbing glass on the second roller channel conveying mechanism and stacking the glass on the glass rack or grabbing glass stacked on the glass rack and placing the glass on the second roller channel conveying mechanism;

the traveling driving mechanism, the second roller conveying mechanism and the glass grabbing mechanism are respectively electrically connected with the PLC, and the PLC is used for realizing glass conveying and upper and lower piece grabbing through electrical control.

Further limiting, the glass grabbing mechanism comprises a large arm, a large arm servo motor, a small arm driving cylinder, a small arm transmission shaft and a plurality of small arms; the large arm is arranged on the transverse moving rack in a hinged mode and can turn over relative to the transverse moving rack; the large arm servo motor is fixedly arranged on the transverse moving rack, the large arm and the large arm servo motor are connected through a large arm crank-link mechanism, and the large arm servo motor drives the large arm to turn through the large arm crank-link mechanism; the small arm driving cylinder is hinged to the large arm and can rotate around the large arm; the small arm transmission shaft is rotatably connected with the large arm, and particularly, the axis of the small arm transmission shaft is parallel to the axis of a hinged shaft between the large arm and the transverse moving rack; the small arm driving cylinder drives the small arm transmission shaft to rotate through the small arm crank connecting rod mechanism; the small arms are arranged in parallel at intervals, a first hinged plate is arranged between each small arm and the large arm, and two ends of each first hinged plate are hinged with the large arm and the small arms respectively; a second hinged plate is arranged between each small arm and the small arm transmission shaft, one end of the second hinged plate is fixedly connected with the small arm transmission shaft, and the other end of the second hinged plate is hinged with the small arm; when the small arm transmission shaft rotates, the small arm can rotate around the first hinged plate and the second hinged plate;

specifically, the large arm is hinged with the transverse moving rack through a plurality of hinge shafts, and the hinge shafts are parallel to the transverse moving driving shaft; the large arm crank connecting rod mechanism comprises a large arm hinge plate and a large arm connecting rod, wherein the output end of a large arm servo motor is provided with a speed reducer, one end of the large arm hinge plate is fixedly connected with the output end of the speed reducer, the other end of the large arm hinge plate is hinged with one end of the large arm connecting rod, and the other end of the large arm connecting rod is hinged with the large arm; the speed reducer is matched with the large arm servo motor and used for driving the large arm to turn over; the small arm crank connecting rod mechanism comprises a small arm hinged plate and a small arm connecting rod, wherein one end of the small arm connecting rod is fixedly connected with a piston rod of a small arm driving cylinder, the other end of the small arm connecting rod is hinged with one end of the small arm hinged plate, the other end of the small arm hinged plate is fixedly connected with a small arm transmission shaft, and the small arm driving cylinder is used for driving the small arm transmission shaft to rotate;

specifically, the output end of the large arm servo motor is provided with a speed reducer, a large overturning chain wheel and a central overturning shaft are arranged between the speed reducer and a large arm hinge plate, the large overturning chain wheel is fixedly arranged on the central overturning shaft, two ends of the central overturning shaft are respectively connected with the transverse moving rack through square seat bearings, the output end of the large arm speed reducer is connected with a small overturning chain wheel, the large overturning chain wheel is connected with the small overturning chain wheel through a toothed chain, and one end of the large arm hinge plate is fixedly connected with the central overturning shaft; the structure can improve the stability of the overturning driving force between the large arm servo motor and the large arm and can improve the control precision of the large arm overturning;

the glass grabbing mechanism further comprises a vacuum pump and a plurality of first photoelectric switches; a plurality of suckers are arranged on each small arm at intervals, the suckers on the small arms are arranged in a matrix form to form a plurality of adsorption areas from bottom to top and from inside to outside, and each adsorption area adsorbs glass through the suckers in the range of the adsorption area; the vacuum pump is fixedly arranged on the transverse moving rack; a plurality of first photoelectric switches are arranged on one small arm at intervals; the small arm driving cylinder, each sucker and the vacuum pump are respectively communicated through air source pipes, and each air source pipe is provided with a vacuum valve and a blowing and sucking switching valve; the large arm servo motor, each first photoelectric switch, the vacuum valve and the blowing and sucking switching valve are respectively and electrically connected with the PLC; specifically, the sucker is an organ sucker, and the air source pipe is connected with the sucker through a quick-screwing elbow; the air source on-off of each sucker can be controlled through PLC control, and glass grabbing or unloading is realized.

Further defined, the second roller way transfer mechanism includes a second roller way servo motor, a second roller way drive shaft, and a plurality of second roller way transfer shafts; the second roller servo motor is fixedly arranged on the transverse moving rack, the second roller driving shaft is rotatably arranged on the transverse moving rack, and the second roller servo motor is in transmission connection with the second roller driving shaft through a toothed chain; the second roller conveying shafts are horizontally arranged at intervals in the left-right direction and are respectively in rotating connection with the transverse moving rack, and each second roller conveying shaft is in transmission connection with the second roller driving shaft through a bevel gear; the plurality of second roller channel conveying shafts and the plurality of small arms are arranged in a staggered mode, so that the small arms can grab glass on the conveying surface of the second roller channel conveying mechanism conveniently and turn and stack the glass on a glass frame; the second roller servo motor can drive the second roller driving shaft to rotate, and the second roller driving shaft can drive the plurality of second roller conveying shafts to synchronously rotate so as to horizontally convey the glass along the left and right directions;

specifically, the plurality of second roller conveyor shafts each extend in the front-rear direction; each second roller channel transmission shaft is rotatably connected with the transverse moving rack through a plurality of rotating bearings, and the transverse moving rack can support each second roller channel transmission shaft; the second roller way driving shafts are erected at the front ends of the second roller way conveying shafts and are perpendicular to each second roller way conveying shaft, the second roller way driving shafts are respectively in rotary connection with the transverse moving rack through a plurality of rotating bearings, and the transverse moving rack can support the second roller way driving shafts; the second roller servo motor is fixedly arranged on the transverse moving rack through a mounting plate, the output end of the second roller servo motor is provided with a speed reducer, the output end of the speed reducer is provided with a driving gear, the middle part of the second roller driving shaft is provided with a driven gear, and the driving gear is in transmission connection with the driven gear through a toothed chain; a second driven bevel gear is fixedly arranged at the front end of each second roller way transmission shaft, a plurality of second driving bevel gears are arranged on the second roller way driving shafts, and the plurality of second driving bevel gears are correspondingly meshed with the plurality of second driven bevel gears one by one; when the second roller way driving motor drives the second roller way driving shaft to rotate, the second roller way driving shaft drives each second roller way conveying shaft to rotate, so that the glass is horizontally conveyed in the left-right direction.

Further inject, every first roller table conveying axle and every divide equally on the second roller table conveying axle respectively the interval fixedly to be equipped with a plurality of roller table transfer pulleys, it is a plurality of the top of roller table transfer pulley flushes, ensures that the transfer face is horizontal.

Further limiting, the walking driving mechanism comprises a transverse moving servo motor, a transverse moving driving shaft, two transverse moving gears and two racks; the transverse moving servo motor is fixedly arranged on the transverse moving rack; the transverse moving driving shaft is rotatably arranged on the transverse moving rack and horizontally extends along the left and right directions; the transverse moving servo motor is in transmission connection with the transverse moving rack; the two traverse gears are respectively and fixedly arranged at two ends of the traverse driving shaft; the two racks are fixedly arranged on the mechanism base and extend along the front-back direction; the two transverse moving gears are respectively meshed with the two racks;

specifically, the transverse moving servo motor is fixedly arranged on a transverse moving rack through a mounting plate, the transverse moving driving shaft is rotatably connected with the transverse moving rack through a plurality of bearing seats, and the transverse moving rack can support the transverse moving driving shaft; the output end of the transverse moving servo motor is provided with a speed reducer, the output end of the speed reducer is fixedly connected with a transverse moving driving shaft, the transverse moving servo motor is matched with the speed reducer to drive the transverse moving driving shaft to rotate, when the transverse moving driving shaft rotates, the transverse moving rack is limited by transverse movement on the mechanism base, transverse moving gears arranged at two ends of the transverse moving driving shaft move along the two racks, and the transverse moving driving shaft drives the transverse moving rack to transversely move on the mechanism base; the two racks are arranged in parallel and at intervals; the transverse moving driving shaft is erected between the two racks and is perpendicular to the two racks.

Further inject, the left and right sides of sideslip frame is equallyd divide and is equipped with two at least track pulleys respectively, every all link to each other through setting up pulley bearing pole between track pulley and the sideslip frame, and pulley bearing pole's one end rotates with track pulley to be connected, the other end and sideslip frame fixed connection, and a plurality of track pulleys can support the sideslip frame to cooperate the sideslip frame to lateral shifting on mechanism's base.

Further limiting, a plurality of guide groove side plates are arranged on the mechanism base, the guide groove side plates are respectively matched with the mechanism base to form guide rail grooves for guiding the rail pulleys to transversely move, the rail pulleys can respectively transversely move in the guide rail grooves correspondingly, and the rail pulleys and the guide rail grooves are matched to limit the transverse movement of the transverse moving rack; when the transverse moving driving shaft rotates, the transverse moving rack moves along the rack along with the transverse moving driving shaft, and the plurality of rail pulleys move in the guide rail grooves and support the transverse moving rack.

Further defined, the segment gripping device further comprises a transition transfer mechanism; the transition conveying mechanism comprises a transition rack and a first roller way conveying mechanism;

the first roller way conveying mechanism is arranged on the transition rack, the first roller way conveying mechanism and the second roller way conveying mechanism are connected on the same conveying plane, and the first roller way conveying mechanism is used for horizontally conveying glass in the left-right direction;

the first roller way conveying mechanism comprises a first roller way servo motor, a first roller way driving shaft and a plurality of first roller way conveying shafts; the first roller bed servo motor is fixedly arranged on the transition rack, the first roller bed driving shaft is rotatably arranged on the transition rack, and the first roller bed servo motor is in transmission connection with the first roller bed driving shaft through a toothed chain; the first roller way conveying shafts are horizontally arranged at intervals in the left-right direction and are respectively in rotating connection with the transition rack, and each first roller way conveying shaft is in transmission connection with the first roller way driving shaft through a bevel gear; the first roller way servo motor can drive the first roller way driving shaft to rotate, and the first roller way driving shaft can drive the plurality of first roller way conveying shafts to synchronously rotate so as to horizontally convey the glass along the left and right directions;

specifically, a plurality of first roller way conveying shafts extend along the front-back direction; each first roller way conveying shaft is rotatably connected with the transition rack through a plurality of rotating bearings, and the transition rack can support each first roller way conveying shaft; the first roller way driving shaft is erected at the rear end of the first roller way conveying shafts and is perpendicular to each first roller way conveying shaft, the first roller way driving shaft is rotatably connected with the transition rack through a plurality of rotating bearings, and the transition rack can support the first roller way driving shaft; the first roller bed servo motor is fixedly arranged on the transition rack through a mounting plate, the output end of the first roller bed servo motor is provided with a speed reducer, the output end of the speed reducer is provided with a driving gear, the middle part of the first roller bed driving shaft is provided with a driven gear, and the driving gear is in transmission connection with the driven gear through a toothed chain; a first driven bevel gear is fixedly arranged at the rear end of each first roller way conveying shaft, a plurality of first driving bevel gears are arranged on the first roller way driving shaft, and the plurality of first driving bevel gears are meshed with the plurality of first driven bevel gears in a one-to-one corresponding manner; when the first roller way driving motor drives the first roller way driving shafts to rotate, the first roller way driving shafts drive each first roller way conveying shaft to rotate, so that the glass is horizontally conveyed in the left and right directions.

Further limiting, the transition transmission mechanism further comprises a second photoelectric switch, a third photoelectric switch, a cam lifting mechanism and a synchronous belt transmission mechanism;

the first photoelectric switch and the second photoelectric switch are arranged on the transition rack at intervals and are positioned in the glass conveying direction of the first roller way conveying mechanism, the first photoelectric switch and the second photoelectric switch are electrically connected with the PLC, and the first photoelectric switch and the second photoelectric switch are matched with the PLC and can be used for detecting and calculating the length of glass;

the glass conveying device comprises a transition rack, a cam lifting mechanism, a synchronous belt conveying mechanism and a glass conveying mechanism, wherein the cam lifting mechanism is arranged on the transition rack; the glass edge positioning mechanism is arranged on the transition rack and comprises a plurality of positioning rollers, the positioning rollers are all arranged at the rear end of the transition rack and are arranged on the same vertical surface at intervals along the left and right directions, and the positioning rollers form glass positioning reference edges; when the synchronous belt conveying mechanism conveys the glass to the rear end, the rear end of the glass is aligned by the plurality of positioning rollers;

specifically, a plurality of support columns are vertically arranged on the transition rack, the bottom ends of the support columns are fixedly connected with the transition rack, and the positioning rollers are rotationally connected with the top ends of the support columns; when glass conveys to the rear end at hold-in range transport mechanism's conveying face, under the conveying of a plurality of hold-in ranges, the rear end of glass offsets and makes glass's rear end align with a plurality of location running rollers, and glass can be convenient for lower after aligning glass location benchmark limit.

Further limiting, the cam lifting mechanism comprises a cam driving cylinder, two cam transmission shafts, a cam link mechanism and four cam mechanisms; the base of the cam driving cylinder is rotatably arranged on the transition rack; the two cam transmission shafts are horizontally arranged at intervals in the front-back direction and are respectively connected with the transition rack in a rotating way; a cylinder crank is arranged between one of the cam transmission shafts and the cam driving cylinder, one end of the cylinder crank is fixedly connected with the cam transmission shaft, and the other end of the cylinder crank is hinged with a piston rod of the cam driving cylinder; the two cam transmission shafts are connected through at least one cam link mechanism, the cam driving cylinder is used for driving one of the cam transmission shafts to rotate, and the cam link mechanism is used for driving the other cam transmission shaft to synchronously rotate; the four cam mechanisms are respectively arranged between the end parts of the two cam transmission shafts and the bottom end of the synchronous belt transmission mechanism, one end of each cam mechanism is fixedly connected with the cam transmission shaft, and the other end of each cam mechanism is connected with the bottom end of the synchronous belt transmission mechanism in a sliding manner; a vertical guide mechanism is arranged between the transition rack and the synchronous belt conveying mechanism and is used for guiding the synchronous belt conveying mechanism to lift in the vertical direction so as to prevent the synchronous belt conveying mechanism from moving in other directions;

specifically, the two cam transmission shafts horizontally extend along the left-right direction, the two cam transmission shafts are respectively in rotary connection with the transition rack through a plurality of rotary bearings, and the transition rack can support the two cam transmission shafts; specifically, two cylinder cranks are arranged, and the two cylinder cranks are symmetrically arranged, so that the connection and transmission stability between a piston rod of the cam driving cylinder and the cam transmission shaft can be improved; specifically, the cylinder crank is arranged in the middle of the cam transmission shaft, so that the stability of the cam transmission shaft is improved; when the cam drives the air cylinder to drive one of the cam transmission shafts to rotate, the other cam transmission shaft synchronously rotates, the four cam mechanisms arranged on the two cam transmission shafts synchronously rotate along with the cam transmission shafts, and simultaneously, under the vertical limiting action of the vertical guide mechanism, the four cam mechanisms synchronously push the synchronous belt conveying mechanism to ascend or descend, so that the synchronous ascending and descending stability of the conveying surface of the synchronous belt conveying mechanism is improved.

Further inject, cam linkage includes connecting rod and two second cranks, the connecting rod sets up in the top of two cam drive shafts and all is perpendicular with two cam drive shafts, two the one end of second crank is articulated with the both ends of two cam drive shaft fixed connection, the other end respectively with the connecting rod, and when a cam drive shaft rotated, another cam drive shaft rotated under cam linkage's drive in step.

Further defined, each cam mechanism comprises a U-shaped guide groove plate, a track pulley, a pulley bearing rod and a third crank; the U-shaped guide groove plate extends along the front-back direction, the U-shaped opening is arranged towards the horizontal direction, and the top end of the U-shaped guide groove plate is fixedly connected with the bottom end of the synchronous belt conveying mechanism, and particularly can be welded and fixed; the side wall of the U-shaped guide groove plate is provided with a guide groove hole which extends in the front-back direction and penetrates through the U-shaped guide groove plate, the track pulley is arranged in the U-shaped guide groove plate in a rolling mode along the front-back direction, one end of the pulley bearing rod penetrates through the guide groove hole to be rotatably connected with the track pulley, the other end of the pulley bearing rod is fixedly connected with one end of a third crank, the other end of the third crank is fixedly connected with the cam transmission shaft, and the pulley bearing rod is parallel to the cam transmission shaft; when the cam transmission shaft rotates, the third crank rotates along with the cam transmission shaft, the third crank drives the pulley bearing rod to move, the pulley bearing rod moves in the front-back direction in the guide groove hole of the U-shaped guide groove plate, the pulley bearing rod drives the track pulley to move, and the track pulley rolls in the U-shaped guide groove plate and pushes the synchronous belt transmission mechanism to lift; the four cam mechanisms move synchronously along with the two cam transmission shafts, so that the synchronous belt conveying mechanism can lift synchronously, and is driven by one air cylinder, thereby being convenient to control and ensuring the synchronous lifting stability of the synchronous belt conveying mechanism.

Further limiting, the vertical guide mechanism comprises two guide rods extending along the vertical direction, the two guide rods are respectively arranged at the left end and the right end of the cam transmission shaft, and the bottom of each guide rod is fixedly connected with the transition rack; the bottom of hold-in range transport mechanism is equipped with two bullports respectively, two the top of guide bar runs through two bullports respectively, and guide bar and bullport cooperate and are used for guiding hold-in range transport mechanism and go up and down in vertical direction, avoid hold-in range transport mechanism to move in other directions.

And when the synchronous belt conveying mechanism descends, the stepped surface abuts against the bottom end surface of the synchronous belt conveying mechanism, the synchronous belt conveying mechanism reaches the lowest position of the descending, and the air cylinder stops running.

Further limiting, the synchronous belt conveying mechanism comprises a synchronous belt supporting frame, a synchronous belt servo motor, a synchronous belt driving shaft and a plurality of synchronous conveying belts; the bottom end of the synchronous belt supporting frame is connected with each cam mechanism in a sliding manner; the synchronous belt servo motor is fixedly arranged on the synchronous belt supporting frame; the synchronous belt driving shaft is rotatably arranged on the synchronous belt supporting frame and horizontally extends along the left and right directions; the synchronous belt servo motor is in transmission connection with the synchronous belt driving shaft through a toothed chain; the plurality of synchronous conveyor belts are horizontally arranged at intervals along the left-right direction, and the plurality of synchronous conveyor belts and the plurality of first roller bed conveying shafts are arranged in a staggered manner; the front end and the rear end of each synchronous conveyor belt are respectively provided with a synchronous belt wheel in a matched manner, one synchronous belt wheel on each synchronous conveyor belt is hinged with a synchronous belt supporting frame, and the other synchronous belt wheel is fixedly arranged on a synchronous belt driving shaft; the synchronous belt servo motor drives a synchronous belt driving shaft to rotate, the synchronous belt driving shaft drives one synchronous belt wheel on each synchronous conveying belt to rotate, and the synchronous belt wheels drive the synchronous conveying belts to transmit, so that the glass is horizontally conveyed along the front and back directions;

specifically, the synchronous belt supporting frame comprises a lower layer bracket, a middle layer bracket and an upper layer bracket; the lower-layer support comprises two lower-layer table columns which extend along the front-back direction and are arranged in parallel at intervals in the horizontal direction; the middle-layer support comprises two middle-layer table posts which extend along the left-right direction and are arranged in parallel at intervals in the horizontal direction; the bottoms of the left and right ends of the two middle-layer table columns are respectively fixedly connected with the tops of the front and rear ends of the two lower-layer table columns; the upper-layer support comprises a plurality of upper-layer table columns which extend along the front-back direction and are arranged in parallel at intervals in the horizontal direction; the upper-layer table columns are erected above the two middle-layer table columns, and each upper-layer table column is fixedly connected with the two middle-layer table columns through a connecting plate;

specifically, the four U-shaped guide groove plates are respectively and correspondingly arranged at the bottoms of the front and rear ends of the two lower-layer table posts, and the four cam mechanisms drive the two lower-layer table posts to synchronously lift; the two guide holes are respectively arranged in the middle parts of the two lower-layer columns, so that the two lower-layer columns can be ensured to be synchronously and stably lifted;

specifically, the synchronous belt driving shaft is arranged at the front ends of the upper-layer columns, the synchronous belt driving shaft and the upper-layer columns are respectively in rotary connection through a plurality of rotating bearings, and the synchronous belt driving shaft can be supported by the upper-layer columns; the synchronous belt servo motor is fixedly arranged on the upper-layer table post through a mounting plate, the output end of the synchronous belt servo motor is provided with a speed reducer, the output end of the speed reducer is provided with a driving gear, the middle part of a driving shaft of the synchronous belt is provided with a driven gear, and the driving gear is in transmission connection with the driven gear through a toothed chain; the synchronous belt servo motor can drive the synchronous belt driving shaft to rotate;

specifically, a plurality of synchronous conveyor belts are wrapped outside a plurality of upper-layer table columns in a one-to-one correspondence manner, a synchronous belt wheel at the rear end of each synchronous conveyor belt is hinged with the upper-layer table columns, and a synchronous belt wheel at the front end of each synchronous conveyor belt is fixedly arranged on a synchronous belt driving shaft; the top end of each synchronous belt is flush and forms a front conveying surface and a rear conveying surface; the synchronous belt servo motor drives each synchronous belt to drive through the synchronous belt driving shaft, and when glass is placed on the plurality of synchronous belts, the plurality of synchronous belts can drive the glass to move towards the rear end of the rack.

The invention also discloses a glass loading grabbing method, which is used for grabbing the glass loading by using the segmented grabbing device for the glass loading and unloading and comprises the following operation steps:

s1: judging the size of the glass on the glass frame to be the same specification or a plurality of specifications;

s2: the PLC controller controls the large arm to overturn until the small arm is parallel to the glass on the glass frame, and simultaneously controls the transverse moving rack to move close to the direction of the glass frame; the transverse moving rack is controlled to move slowly in the safe area away from the glass; the sucker on the small arm is contacted with the glass; the transverse moving rack stops moving;

s3: when the sizes of the glass on the glass frame are the same, selecting a proper adsorption area, and electrically controlling a plurality of suckers in the adsorption area to adsorb the glass by the PLC;

s4: when the size of the glass on the glass frame is various specifications, selecting an adsorption area at the bottommost part and the innermost side, and electrically controlling a plurality of suckers in the adsorption area to adsorb the glass and controlling other suckers to blow air by the PLC controller to prevent other suckers from adsorbing other glass; the PLC controls the small arm driving cylinder to drive the small arm to ascend through electricity, and the adsorbed glass is separated from other glass on the glass frame; controlling other suckers to adsorb the glass;

s5: the PLC controls the large arm to turn over electrically and controls the transverse moving rack to be recovered at the same time;

s6: the large arm is turned over in place, meanwhile, glass is placed on the conveying surface of the second roller channel conveying mechanism, the PLC controls each sucker to be separated from the glass, and the second roller channel conveying mechanism conveys the glass out;

specifically, before the device runs, the alignment of the vertical center line of the glass frame and the center lines among the small arms is ensured, and the glass frame can be aligned when the glass grabbing mechanism grabs the glass; the size and specification of the glass can be judged manually, the control adsorption mode of the PLC can be set, and in the continuous feeding process, the PLC automatically controls equipment and directly selects the step S3 or S4; specifically, when other suckers are controlled to adsorb glass in S4, a proper adsorption area and the sucker in the adsorption area are selected to adsorb glass according to the size of the glass, and the sucker outside the adsorption area does not need to adsorb glass, so that resource waste is reduced.

The invention also discloses a glass lower sheet grabbing method, which is implemented by using the segmented grabbing device for glass upper and lower sheets, and comprises the following operation steps:

s1: the PLC controller controls the first roller way conveying mechanism to convey glass, and the position of the glass is detected through the second photoelectric switch and the third photoelectric switch so as to measure and calculate the length of the glass;

specifically, when the first input end of the glass enters the measurement area, the second photoelectric switch responds; when the second photoelectric switch detects the tail end of the glass, the glass completely enters the measuring area, the second photoelectric switch transmits the detection data to the PLC, and the PLC starts to time; when the third photoelectric switch detects the first input end of the glass, the glass is about to start to exit the measurement area, the third photoelectric switch transmits detection data to the PLC, and the PLC finishes timing; the PLC calculates the conveying distance of the glass in the measuring area according to the conveying time difference of the glass in the measuring area and the conveying speed of the first roller way conveying mechanism, and the length of the glass is obtained by subtracting the length calculated by the PLC from the length of the measuring area; the glass length calculated by the PLC is accurate and reliable, and reliable data support can be provided for the glass to be placed on a glass frame in the middle;

s2: the PLC controls the synchronous belt conveying mechanism to convey the glass, and the rear end edge of the glass is aligned to the plurality of positioning rollers;

specifically, after the length of the glass is measured, stopping the first roller way conveying mechanism, lifting the synchronous belt conveying mechanism by the PLC through controlling the cam lifting mechanism, transferring the glass to the conveying surface of the synchronous belt conveying mechanism from the conveying surface of the first roller way conveying mechanism, and horizontally conveying the glass by the synchronous belt conveying mechanism in the front and back directions until the rear end edge of the glass is aligned with the glass positioning reference edge;

s3: the PLC controller controls the first roller way conveying mechanism to convey glass, the glass is transferred from the conveying surface of the first roller way conveying mechanism to the conveying surface of the second roller way conveying mechanism and is conveyed continuously until the glass is aligned to the first photoelectric switch in the middle;

specifically, the glass is conveyed on a second roller conveying mechanism, after a first photoelectric switch detects the first-in end of the glass, a PLC controller controls the second roller conveying mechanism to continue conveying the glass, the length of the continuous conveying is equal to the length of the measured glass, the length of the continuous conveying is obtained by subtracting or adding the distance from the first photoelectric switch to the center line between the plurality of small arms, and the position where the glass stops is centered;

s4: the PLC electrically controls a plurality of suckers positioned below the conveying surface of the second roller conveying mechanism to adsorb glass;

s5: the PLC controller controls the large arm to overturn until the small arm is parallel to the glass on the glass frame, and simultaneously controls the transverse moving rack to move close to the direction of the glass frame; the transverse moving rack is controlled to move slowly in the safe area away from the glass; the glass adsorbed by the sucker slowly contacts with the glass stored on the glass rack; the PLC controller controls the small arm to descend for placing the glass; the PLC controller controls each sucker to be separated from the glass;

s6: the PLC controls the large arm to turn over electrically and controls the transverse moving rack to be recovered at the same time;

specifically, when the sucking disc adsorbs the glass of placing on the second roller way transport mechanism transfer surface, through a plurality of first photoelectric switch's the detection condition to combine the glass length of calculating, select with the adsorption zone of glass size and dimension adaptation, utilize the sucking disc in this adsorption zone to adsorb glass, the sucking disc that is not in this adsorption zone scope need not to participate in the absorption, with this can reduce the wasting of resources.

According to the technical scheme, the segmented grabbing device, the upper piece grabbing method and the lower piece grabbing method for the upper and lower pieces of glass have the advantages that: the segmented gripping device for the upper and lower sheets can grip the glass on the second roller channel conveying mechanism and stack the glass on the glass frame, and can grip the glass stacked on the glass frame and place the glass on the second roller channel conveying mechanism; this piece is with segmentation grabbing device from top to bottom can effectively snatch and separate the whole mixed glass of different specifications, can avoid appearing gap, fish tail, extrusion or support garrulous phenomenon about the piece snatchs the in-process from top to bottom at glass.

Drawings

In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

Fig. 1 is a schematic structural diagram of a top and bottom sheet conveying mechanism of the present invention.

Fig. 2 is a plan view of the upper and lower sheet conveying mechanisms of the present invention.

Fig. 3 is a rear view of the upper and lower sheet conveying mechanisms of the present invention.

Fig. 4 is a sectional view taken along the line B-B in fig. 2.

Fig. 5 is a sectional view taken along the direction C-C in fig. 2.

Fig. 6 is a sectional view taken along the direction D-D in fig. 2.

Fig. 7 is a partial structural diagram of fig. 4 at E.

Fig. 8 is a schematic structural diagram of the transition conveying mechanism of the present invention.

Fig. 9 is a front view of the transitional transfer mechanism of the present invention.

Fig. 10 is a top view of the transitional transport mechanism of the present invention.

Fig. 11 is a right side view of the transitional transfer mechanism of the present invention.

Fig. 12 is a sectional view taken along a line a-a in fig. 9.

Fig. 13 is a gas path diagram of the present invention.

FIG. 14 is a schematic view of the suction cup arrangement of the present invention.

In the drawings: 11-a transition rack, 12-a mechanism base, 13-a transverse moving rack, 14-a second photoelectric switch, 15-a third photoelectric switch, 16-a glass rack, 17-a vertical guide mechanism, 2-a first roller way conveying mechanism, 21-a first roller way servo motor, 22-a first roller way driving shaft, 23-a first roller way conveying shaft, 3-a cam lifting mechanism, 31-a cam driving cylinder, 32-a cam driving shaft, 33-a cam link mechanism, 34-a cam mechanism, 35-a cylinder crank, 4-a synchronous belt conveying mechanism, 41-a synchronous belt supporting frame, 42-a synchronous belt servo motor, 43-a synchronous belt driving shaft, 44-a synchronous belt, 45-a synchronous belt pulley, 5-a glass edge positioning mechanism and 51-a positioning roller, 6-walking driving mechanism, 61-traversing servo motor, 62-traversing driving shaft, 63-traversing gear, 64-rack, 7-second roller way conveying mechanism, 71-second roller way servo motor, 72-second roller way driving shaft, 73-second roller way conveying shaft, 74-roller way conveying wheel, 8-glass grabbing mechanism, 81-big arm, 82-big arm servo motor, 83-small arm driving cylinder, 84-small arm driving shaft, 85-small arm, 86-big arm crank link mechanism, 87-small arm crank link mechanism, 88-first hinged plate, 89-second hinged plate, 91-sucking disc, 92-first photoelectric switch and 93-vacuum pump.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.

In the description of the present application, it is to be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", "front", "rear", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.

Embodiment 1, as shown in fig. 1 to 7, a glass upper and lower sheet segmented gripping device comprises an upper and lower sheet conveying mechanism, a glass rack 16 and a PLC controller;

the upper and lower piece conveying mechanism comprises a mechanism base 12, a transverse moving rack 13, a traveling driving mechanism 6, a second roller conveying mechanism 7 and a glass grabbing mechanism 8;

the transverse moving rack 13 is arranged on the mechanism base 12 in a transverse moving mode;

the traveling driving mechanism 6 is arranged between the mechanism base 12 and the traverse rack 13 and is used for driving the traverse rack 13 to horizontally move on the mechanism base 12 along the front-back direction;

the second roller channel transmission mechanism 7 is arranged on the traverse rack 13 and is used for horizontally transmitting glass in the left and right directions;

the glass grabbing mechanism 8 is arranged on the transverse moving rack 13 in a turnover mode, and the glass grabbing mechanism 8 is used for grabbing the glass on the second roller conveying mechanism 7 and stacking the glass on the glass frame 16, or used for grabbing the glass stacked on the glass frame 16 and placing the glass on the second roller conveying mechanism 7;

the traveling driving mechanism 6, the second roller conveying mechanism 7 and the glass grabbing mechanism 8 are electrically connected with a PLC respectively, and the PLC is used for realizing glass conveying and upper and lower piece grabbing through electrical control.

In this embodiment, the glass gripping mechanism 8 includes a large arm 81, a large arm servo motor 82, a small arm driving cylinder 83, a small arm transmission shaft 84, and a plurality of small arms 85; the large arm 81 is mounted on the transverse moving rack 13 in a hinged mode, and the large arm 81 can turn over relative to the transverse moving rack 13; the large arm servo motor 82 is fixedly arranged on the transverse moving rack 13, the large arm 81 is connected with the large arm servo motor 82 through a large arm crank-link mechanism 86, and the large arm servo motor 82 drives the large arm 81 to turn through the large arm crank-link mechanism 86; the small arm driving cylinder 83 is hinged on the large arm 81, and the small arm driving cylinder 83 can rotate around the large arm 81; the small arm transmission shaft 84 is rotatably connected with the large arm 81, and specifically, the axis of the small arm transmission shaft 84 is parallel to the axis of a hinge shaft between the large arm 81 and the traverse rack 13; the small arm transmission shaft 84 is connected with the small arm driving cylinder 83 through a small arm crank-link mechanism 87, and the small arm driving cylinder 83 drives the small arm transmission shaft 84 to rotate through the small arm crank-link mechanism 87; the small arms 85 are arranged in parallel at intervals, a first hinge plate 88 is arranged between each small arm 85 and the large arm 81, and two ends of each first hinge plate 88 are hinged with the large arm 81 and the small arms 85 respectively; a second hinge plate 89 is arranged between each small arm 85 and the small arm transmission shaft 84, one end of each second hinge plate 89 is fixedly connected with the small arm transmission shaft 84, and the other end of each second hinge plate 89 is hinged with the small arm 85; when the arm transmission shaft 84 rotates, the arm 85 can rotate around the first hinge plate 88 and the second hinge plate 89;

specifically, the large arm 81 is hinged to the traverse frame 13 through a plurality of hinge shafts, and the hinge shafts are parallel to the traverse driving shaft 62; specifically, the big arm crank link mechanism 86 comprises a big arm 81 hinge plate and a big arm 81 connecting rod, the output end of the big arm servo motor 82 is provided with a speed reducer, one end of the big arm 81 hinge plate is fixedly connected with the output end of the speed reducer, the other end of the big arm 81 hinge plate is hinged with one end of the big arm 81 connecting rod, and the other end of the big arm 81 connecting rod is hinged with the big arm 81; the speed reducer is matched with the large arm servo motor 82 to drive the large arm 81 to turn over; specifically, the small arm crank link mechanism 87 comprises a small arm 85 hinged plate and a small arm 85 connecting rod, wherein one end of the small arm 85 connecting rod is fixedly connected with a piston rod of the small arm driving cylinder 83, the other end of the small arm 85 hinged plate is hinged with one end of the small arm 85 hinged plate, the other end of the small arm 85 hinged plate is fixedly connected with the small arm transmission shaft 84, and the small arm driving cylinder 83 is used for driving the small arm transmission shaft 84 to rotate;

specifically, the output end of the large arm servo motor 82 is provided with a speed reducer, a large overturning chain wheel and an overturning central shaft are arranged between the speed reducer and a large arm 81 hinge plate, the large overturning chain wheel is fixedly arranged on the overturning central shaft, two ends of the overturning central shaft are respectively connected with the transverse moving rack 13 through square seat bearings, the output end of the large arm 81 speed reducer is connected with a small overturning chain wheel, the large overturning chain wheel is connected with the small overturning chain wheel through a toothed chain, and one end of the large arm 81 hinge plate is fixedly connected with the overturning central shaft; the structure can improve the stability of the overturning driving force between the large arm servo motor 82 and the large arm 81 and can improve the overturning control precision of the large arm 81;

the glass gripping mechanism 8 further comprises a vacuum pump 93 and a plurality of first photoelectric switches 92; a plurality of suckers 91 are respectively arranged on each small arm 85 at intervals, the suckers 91 on the small arms 85 are arranged in a matrix form to form a plurality of adsorption areas from bottom to top and from inside to outside, and each adsorption area adsorbs glass through the suckers 91 in the range of the adsorption area; the vacuum pump 93 is fixedly arranged on the traverse rack 13; a plurality of the first photoelectric switches 92 are mounted on one of the small arms 85 at intervals; the small arm driving cylinder 83, each sucker 91 and the vacuum pump 93 are respectively communicated through air source pipes, and each air source pipe is provided with a vacuum valve and a blowing and sucking switching valve; the large arm servo motor 82, each first photoelectric switch 92, the vacuum valve and the blow-suction switching valve are respectively and electrically connected with the PLC; specifically, the suction cup 91 is an organ suction cup 91, and the air source pipe is connected with the suction cup 91 through a quick-screwing elbow; the air source on-off of each sucker 91 can be controlled through PLC control, and glass grabbing or unloading is realized.

In the present embodiment, the second roller conveying mechanism 7 includes a second roller servo motor 71, a second roller drive shaft 72, and a plurality of second roller conveying shafts 73; the second roller servo motor 71 is fixedly arranged on the traverse rack 13, the second roller driving shaft 72 is rotatably arranged on the traverse rack 13, and the second roller servo motor 71 is in transmission connection with the second roller driving shaft 72 through a toothed chain; the second roller conveying shafts 73 are horizontally arranged at intervals in the left-right direction and are respectively connected with the transverse moving rack 13 in a rotating manner, and each second roller conveying shaft 73 is in transmission connection with the second roller driving shaft 72 through a bevel gear; the plurality of second roller conveying shafts 73 and the plurality of small arms 85 are arranged in a staggered mode, so that the small arms 85 can grab glass on the conveying surface of the second roller conveying mechanism 7 and turn and stack the glass on the glass rack 16 conveniently; the second roller servo motor 71 can drive the second roller driving shaft 72 to rotate, and the second roller driving shaft 72 can drive the plurality of second roller conveying shafts 73 to synchronously rotate so as to horizontally convey the glass along the left and right directions;

specifically, the plurality of second roller conveyor shafts 73 each extend in the front-rear direction; each second roller conveying shaft 73 is rotatably connected with the traverse rack 13 through a plurality of rotating bearings, and each second roller conveying shaft 73 can be supported by the traverse rack 13; the second roller way driving shaft 72 is erected at the front end of the second roller way transmission shaft 73 and is perpendicular to each second roller way transmission shaft 73, the second roller way driving shaft 72 is rotatably connected with the traverse rack 13 through a plurality of rotating bearings, and the traverse rack 13 can support the second roller way driving shaft 72; the second roller servo motor 71 is fixedly arranged on the transverse moving rack 13 through a mounting plate, the output end of the second roller servo motor 71 is provided with a speed reducer, the output end of the speed reducer is provided with a driving gear, the middle part of the second roller driving shaft 72 is provided with a driven gear, and the driving gear is in transmission connection with the driven gear through a toothed chain; a second driven bevel gear is fixedly arranged at the front end of each second roller conveying shaft 73, a plurality of second driving bevel gears are arranged on the second roller driving shaft 72, and the plurality of second driving bevel gears are meshed with the plurality of second driven bevel gears in a one-to-one correspondence manner; when the second roller drive motor drives the second roller drive shafts 72 to rotate, the second roller drive shafts 72 rotate each of the second roller transfer shafts 73, thereby horizontally transferring the glass in the left-right direction.

In this embodiment, each of the first roller way transmission shafts 23 and each of the second roller way transmission shafts 73 is respectively provided with a plurality of roller way transmission wheels 74 at intervals, and the top ends of the plurality of roller way transmission wheels 74 are flush, so as to ensure that the transmission surface is horizontal.

In this embodiment, the travel driving mechanism 6 includes a traverse servo motor 61, a traverse driving shaft 62, two traverse gears 63, and two racks 64; the transverse moving servo motor 61 is fixedly arranged on the transverse moving rack 13; the traverse driving shaft 62 is rotatably mounted on the traverse frame 13 and horizontally extends in the left-right direction; the transverse moving servo motor 61 is in transmission connection with the transverse moving rack 13; the two traverse gears 63 are respectively and fixedly arranged at two ends of the traverse driving shaft 62; the two racks 64 are both fixedly mounted on the mechanism base 12 and both extend in the front-rear direction; the two traverse gears 63 are respectively meshed with the two racks 64;

specifically, the traverse servo motor 61 is fixedly mounted on the traverse rack 13 through a mounting plate, the traverse driving shaft 62 is rotatably connected with the traverse rack 13 through a plurality of bearing seats, and the traverse rack 13 can support the traverse driving shaft 62; the output end of the transverse moving servo motor 61 is provided with a speed reducer, the output end of the speed reducer is fixedly connected with a transverse moving driving shaft 62, the transverse moving servo motor 61 is matched with the speed reducer to drive the transverse moving driving shaft 62 to rotate, when the transverse moving driving shaft 62 rotates, the transverse moving rack 13 is positioned on the mechanism base 12 under the limitation of transverse movement, transverse moving gears 63 arranged at two ends of the transverse moving driving shaft 62 move along two racks 64, and the transverse moving driving shaft 62 drives the transverse moving rack 13 to transversely move on the mechanism base 12; the two racks 64 are arranged in parallel and at intervals; the traverse driving shaft 62 is erected between the two racks 64, and the traverse driving shaft 62 is perpendicular to the two racks 64.

In this embodiment, the left and right sides of the traverse rack 13 are respectively provided with at least two rail pulleys, each rail pulley is connected with the traverse rack 13 through a pulley bearing rod, one end of each pulley bearing rod is rotatably connected with the rail pulley, the other end of each pulley bearing rod is fixedly connected with the traverse rack 13, and the plurality of rail pulleys can support the traverse rack 13 and cooperate with the traverse rack 13 to move transversely on the mechanism base 12.

In this embodiment, the mechanism base 12 is provided with a plurality of guide slot side plates, the guide slot side plates are respectively matched with the mechanism base 12 to form guide rail grooves for guiding the rail pulleys to move transversely, the rail pulleys can respectively move transversely in the guide rail grooves correspondingly, and the rail pulleys and the guide rail grooves are matched to limit the transverse movement of the transverse moving rack 13; when the traverse driving shaft 62 rotates, the traverse frame 13 moves along the rack 64 along with the traverse driving shaft 62, and a plurality of rail pulleys move in the guide rail grooves and support the traverse frame 13.

Example 2, as shown in fig. 1 to 7, 13 and 14, a method for gripping an upper glass sheet, which uses the segmented gripping device for upper and lower glass sheets of example 1, comprises the following steps:

s1: judging the size of the glass on the glass frame 16 to be the same specification or a plurality of specifications;

s2: the PLC controls the large arm 81 to turn over until the small arm 85 is parallel to the glass on the glass frame 16, and simultaneously controls the traverse rack 13 to approach to the direction of the glass frame 16; the transverse moving rack 13 is controlled to move slowly in the safe area away from the glass; the suction cup 91 on the small arm 85 contacts with the glass; the traverse frame 13 stops moving;

s3: when the size of the glass on the glass frame 16 is the same, a proper adsorption area is selected, and the PLC electrically controls the plurality of suckers 91 in the range of the adsorption area to adsorb the glass;

s4: when the size of the glass on the glass frame 16 is various specifications, selecting one adsorption area (adsorption area 1 in fig. 14) at the bottommost part and the innermost side, wherein the PLC electrically controls the plurality of suckers 91 in the range of the adsorption area (adsorption area 1) to adsorb the glass and controls other suckers 91 to blow air, so as to prevent other suckers 91 from adsorbing other glass; the PLC controls the small arm driving cylinder 83 to drive the small arm 85 to ascend through electricity, and the adsorbed glass is separated from other glass on the glass frame 16; controlling other suckers 91 to adsorb the glass;

s5: the PLC controls the large arm 81 to turn over through electric control and controls the transverse moving rack 13 to be recycled;

s6: the large arm 81 is turned over in place, meanwhile, glass is placed on the conveying surface of the second roller conveying mechanism 7, the PLC controls each sucking disc 91 to be separated from the glass, and the second roller conveying mechanism 7 conveys the glass out;

specifically, before the device operates, the vertical center line of the glass frame 16 is ensured to be aligned with the center lines between the small arms 85, and the glass frame 16 can be aligned when the glass grabbing mechanism 8 grabs the glass; the size and specification of the glass can be judged manually, the control adsorption mode of the PLC can be set, and in the continuous feeding process, the PLC automatically controls equipment and directly selects the step S3 or S4; specifically, when the other suction cups 91 are controlled to suck glass in S4, a suitable suction area and the suction cups 91 in the suction area are selected to suck glass according to the size of the glass, and the suction cups 91 outside the suction area do not need to suck glass, so that waste of resources is reduced.

Embodiment 3, as shown in fig. 1 to 12, a segment grabber for upper and lower glass sheets is different from embodiment 1 in that the segment grabber further includes a transit transfer mechanism; the transition conveying mechanism comprises a transition rack 11 and a first roller way conveying mechanism 2;

the first roller way conveying mechanism 2 is arranged on the transition rack 11, the first roller way conveying mechanism 2 and the second roller way conveying mechanism 7 are connected on the same conveying plane, and the first roller way conveying mechanism 2 is used for horizontally conveying glass in the left-right direction;

the first roller way conveying mechanism 2 comprises a first roller way servo motor 21, a first roller way driving shaft 22 and a plurality of first roller way conveying shafts 23; the first roller bed servo motor 21 is fixedly arranged on the transition rack 11, the first roller bed driving shaft 22 is rotatably arranged on the transition rack 11, and the first roller bed servo motor 21 is in transmission connection with the first roller bed driving shaft 22 through a toothed chain; the plurality of first roller way conveying shafts 23 are horizontally arranged at intervals in the left-right direction and are respectively in rotating connection with the transition rack 11, and each first roller way conveying shaft 23 is in transmission connection with the first roller way driving shaft 22 through a bevel gear; the first roller way servo motor 21 can drive the first roller way driving shaft 22 to rotate, and the first roller way driving shaft 22 can drive the plurality of first roller way conveying shafts 23 to synchronously rotate so as to horizontally convey glass in the left-right direction;

specifically, the plurality of first roller bed conveying shafts 23 extend in the front-rear direction; each first roller way conveying shaft 23 is rotatably connected with the transition rack 11 through a plurality of rotating bearings, and each first roller way conveying shaft 23 can be supported by the transition rack 11; the first roller way driving shaft 22 is erected at the rear end of the first roller way conveying shafts 23 and is perpendicular to each first roller way conveying shaft 23, the first roller way driving shaft 22 is rotatably connected with the transition rack 11 through a plurality of rotating bearings, and the transition rack 11 can support the first roller way driving shaft 22; the first roller bed servo motor 21 is fixedly arranged on the transition rack 11 through an installation plate, the output end of the first roller bed servo motor 21 is provided with a speed reducer, the output end of the speed reducer is provided with a driving gear, the middle part of the first roller bed driving shaft 22 is provided with a driven gear, and the driving gear is in transmission connection with the driven gear through a toothed chain; a first driven bevel gear is fixedly arranged at the rear end of each first roller way conveying shaft 23, a plurality of first driving bevel gears are arranged on the first roller way driving shaft 22, and the plurality of first driving bevel gears are meshed with the plurality of first driven bevel gears in a one-to-one corresponding manner; when the first roller way driving motor drives the first roller way driving shaft 22 to rotate, the first roller way driving shaft 22 drives each first roller way conveying shaft 23 to rotate, so that the glass is horizontally conveyed in the left-right direction.

In this embodiment, the transition conveying mechanism further includes a second photoelectric switch, a third photoelectric switch 15, a cam lifting mechanism 3, and a synchronous belt conveying mechanism 4;

the first photoelectric switch 92 and the second photoelectric switch are mounted on the transition rack 11 at intervals and are both positioned in the glass conveying direction of the first roller way conveying mechanism 2, the first photoelectric switch 92 and the second photoelectric switch are both electrically connected with the PLC, and the first photoelectric switch 92 and the second photoelectric switch are both matched with the PLC and can be used for detecting and calculating the length of glass;

the glass conveying device comprises a cam lifting mechanism 3, a synchronous belt conveying mechanism 4, a transition rack 11, a synchronous belt conveying mechanism 4, a cam lifting mechanism 3, a synchronous belt conveying mechanism 4 and a glass conveying mechanism, wherein the cam lifting mechanism 3 is arranged on the transition rack 11; the glass edge positioning mechanism 5 is arranged on the transition rack 11, the glass edge positioning mechanism 5 comprises a plurality of positioning rollers 51, the positioning rollers 51 are all arranged at the rear end of the transition rack 11 and are arranged on the same vertical surface at intervals along the left-right direction, and the positioning rollers 51 form a glass positioning reference edge; when the synchronous belt conveying mechanism 4 conveys the glass to the rear end, the plurality of positioning rollers 51 align the rear end of the glass;

specifically, a plurality of support columns are vertically arranged on the transition rack 11, the bottom ends of the support columns are fixedly connected with the transition rack 11, and the positioning rollers 51 are rotatably connected with the top ends of the support columns; when glass is conveyed to the rear end of the conveying surface of the synchronous belt conveying mechanism 4, under the conveying of the synchronous belts, the rear end of the glass is abutted against the positioning rollers 51 and the rear end of the glass is aligned, and the glass can be conveniently discharged after being aligned with the glass positioning reference edge.

In this embodiment, the cam lifting mechanism 3 includes a cam driving cylinder 31, two cam transmission shafts 32, a cam link mechanism 33, and four cam mechanisms 34; the base of the cam driving cylinder 31 is rotatably mounted on the transition frame 11; the two cam transmission shafts 32 are horizontally arranged at intervals in the front-back direction and are respectively connected with the transition rack 11 in a rotating manner; a cylinder crank 35 is arranged between one of the cam transmission shafts 32 and the cam driving cylinder 31, one end of the cylinder crank 35 is fixedly connected with the cam transmission shaft 32, and the other end of the cylinder crank 35 is hinged with a piston rod of the cam driving cylinder 31; the two cam transmission shafts 32 are connected through at least one cam link mechanism 33, the cam driving cylinder 31 is used for driving one cam transmission shaft 32 to rotate, and the cam link mechanism 33 is used for driving the other cam transmission shaft 32 to synchronously rotate; the four cam mechanisms 34 are respectively arranged between the end parts of the two cam transmission shafts 32 and the bottom end of the synchronous belt transmission mechanism 4, one end of each cam mechanism 34 is fixedly connected with the cam transmission shaft 32, and the other end of each cam mechanism 34 is slidably connected with the bottom end of the synchronous belt transmission mechanism 4; a vertical guide mechanism 17 is arranged between the transition rack 11 and the synchronous belt conveying mechanism 4, and the vertical guide mechanism 17 is used for guiding the synchronous belt conveying mechanism 4 to lift in the vertical direction so as to prevent the synchronous belt conveying mechanism 4 from moving in other directions;

specifically, the two cam transmission shafts 32 extend horizontally in the left-right direction, the two cam transmission shafts 32 are rotatably connected with the transition rack 11 through a plurality of rotating bearings, and the transition rack 11 can support the two cam transmission shafts 32; specifically, two cylinder cranks 35 are arranged, and the two cylinder cranks 35 are symmetrically arranged, so that the connection and transmission stability between the piston rod of the cam driving cylinder 31 and the cam transmission shaft 32 can be improved; specifically, the cylinder crank 35 is disposed in the middle of the cam transmission shaft 32, thereby improving the stability of the cam transmission shaft 32; when the cam driving cylinder 31 drives one of the cam transmission shafts 32 to rotate, the other cam transmission shaft 32 synchronously rotates, the four cam mechanisms 34 arranged on the two cam transmission shafts 32 synchronously rotate along with the cam transmission shafts 32, and meanwhile, under the vertical limiting action of the vertical guide mechanism 17, the four cam mechanisms 34 synchronously push the synchronous belt transmission mechanism 4 to ascend or descend, so that the synchronous ascending and descending stability of the transmission surface of the synchronous belt transmission mechanism 4 is improved.

In this embodiment, cam linkage 33 includes connecting rod and two second cranks, the connecting rod sets up in the top of two cam drive shaft 32 and all is perpendicular with two cam drive shaft 32, two the one end of second crank is articulated with the both ends of two cam drive shaft 32 fixed connection, the other end respectively with the connecting rod, and when a cam drive shaft 32 rotated, another cam drive shaft 32 was synchronous rotation under cam linkage 33's drive.

In this embodiment, each cam mechanism 34 includes a U-shaped guide slot plate, a track pulley, a pulley bearing rod, and a third crank; the U-shaped guide groove plate extends along the front-back direction, the U-shaped opening is arranged towards the horizontal direction, and the top end of the U-shaped guide groove plate is fixedly connected with the bottom end of the synchronous belt conveying mechanism 4, specifically, can be welded and fixed; the side wall of the U-shaped guide groove plate is provided with a guide groove hole which extends in the front-back direction and penetrates through the U-shaped guide groove plate, the rail pulley is arranged in the U-shaped guide groove plate in a rolling manner along the front-back direction, one end of the pulley bearing rod penetrates through the guide groove hole to be rotatably connected with the rail pulley, the other end of the pulley bearing rod is fixedly connected with one end of a third crank, the other end of the third crank is fixedly connected with the cam transmission shaft 32, and the pulley bearing rod is parallel to the cam transmission shaft 32; when the cam transmission shaft 32 rotates, the third crank rotates along with the cam transmission shaft 32, the third crank drives the pulley bearing rod to move, the pulley bearing rod moves in the front-back direction in the guide groove hole of the U-shaped guide groove plate, the pulley bearing rod drives the track pulley to move, and the track pulley rolls in the U-shaped guide groove plate and pushes the synchronous belt transmission mechanism 4 to lift; the four cam mechanisms 34 move synchronously along with the two cam transmission shafts 32, so that the synchronous belt conveying mechanism 4 can lift synchronously, and is driven by one air cylinder, thereby being convenient to control and ensuring the synchronous lifting stability of the synchronous belt conveying mechanism 4.

In this embodiment, the vertical guide mechanism 17 includes two guide rods extending in the vertical direction, the two guide rods are respectively disposed at the left and right ends of the cam transmission shaft 32, and the bottom of each guide rod is fixedly connected to the transition rack 11; the bottom of hold-in range transport mechanism 4 is equipped with two bullports respectively, two the top of guide bar runs through two bullports respectively, and guide bar and bullport cooperate and are used for guiding hold-in range transport mechanism 4 and go up and down in vertical direction, avoid hold-in range transport mechanism 4 to move in other directions.

In this embodiment, a step is provided in the middle of each guide rod, the step is used to define a lower position of the synchronous belt conveying mechanism 4, when the synchronous belt conveying mechanism 4 descends, and a surface of the step abuts against a bottom end surface of the synchronous belt conveying mechanism 4, the synchronous belt conveying mechanism 4 reaches a lowest position of the descending, and the cylinder stops running.

In this embodiment, the synchronous belt conveying mechanism 4 includes a synchronous belt supporting frame 41, a synchronous belt servo motor 42, a synchronous belt driving shaft 43, and a plurality of synchronous conveying belts 44; the bottom end of the synchronous belt supporting frame 41 is connected with each cam mechanism 34 in a sliding manner; the synchronous belt servo motor 42 is fixedly arranged on the synchronous belt supporting frame 41; the synchronous belt driving shaft 43 is rotatably mounted on the synchronous belt supporting frame 41 and horizontally extends along the left and right direction; the synchronous belt servo motor 42 is in transmission connection with the synchronous belt driving shaft 43 through a toothed chain; the plurality of synchronous conveyor belts 44 are horizontally arranged at intervals along the left-right direction, and the plurality of synchronous conveyor belts 44 and the plurality of first roller bed conveying shafts 23 are arranged in a staggered manner; the front end and the rear end of each synchronous conveyor belt 44 are respectively provided with a synchronous belt wheel 45 in a matched manner, one synchronous belt wheel 45 on each synchronous conveyor belt 44 is hinged with the synchronous belt supporting frame 41, and the other synchronous belt wheel 45 is fixedly arranged on the synchronous belt driving shaft 43; the synchronous belt servo motor 42 drives the synchronous belt driving shaft 43 to rotate, the synchronous belt driving shaft 43 drives one synchronous belt wheel 45 on each synchronous conveying belt 44 to rotate, and the synchronous belt wheels 45 drive the synchronous conveying belts 44 to transmit, so that the glass is horizontally conveyed along the front and back directions;

specifically, the synchronous belt supporting frame 41 includes a lower layer bracket, a middle layer bracket and an upper layer bracket; the lower-layer support comprises two lower-layer table columns which extend along the front-back direction and are arranged in parallel at intervals in the horizontal direction; the middle-layer support comprises two middle-layer table posts which extend along the left-right direction and are arranged in parallel at intervals in the horizontal direction; the bottoms of the left and right ends of the two middle-layer table columns are respectively fixedly connected with the tops of the front and rear ends of the two lower-layer table columns; the upper-layer support comprises a plurality of upper-layer table columns which extend along the front-back direction and are arranged in parallel at intervals in the horizontal direction; the upper-layer table columns are erected above the two middle-layer table columns, and each upper-layer table column is fixedly connected with the two middle-layer table columns through a connecting plate;

specifically, the four U-shaped guide groove plates are respectively and correspondingly mounted at the bottoms of the front and rear ends of the two lower-layer columns, and the four cam mechanisms 34 drive the two lower-layer columns to synchronously lift; the two guide holes are respectively arranged in the middle parts of the two lower-layer columns, so that the two lower-layer columns can be ensured to be synchronously and stably lifted;

specifically, the synchronous belt driving shaft 43 is arranged at the front ends of the upper stage columns, the synchronous belt driving shaft 43 and the upper stage columns are respectively in rotational connection through a plurality of rotating bearings, and the synchronous belt driving shaft 43 can be supported by the upper stage columns; the synchronous belt servo motor 42 is fixedly arranged on the upper-layer table column through a mounting plate, the output end of the synchronous belt servo motor 42 is provided with a speed reducer, the output end of the speed reducer is provided with a driving gear, the middle part of the synchronous belt driving shaft 43 is provided with a driven gear, and the driving gear is in transmission connection with the driven gear through a toothed chain; the synchronous belt driving shaft 43 can be driven to rotate through the synchronous belt servo motor 42;

specifically, a plurality of synchronous conveyor belts 44 are wrapped outside a plurality of upper stage columns in a one-to-one correspondence manner, a synchronous pulley 45 at the rear end of each synchronous conveyor belt 44 is hinged with the upper stage columns, and a synchronous pulley 45 at the front end is fixedly mounted on a synchronous belt driving shaft 43; the top end of each synchronous belt is flush and forms a front conveying surface and a rear conveying surface; the synchronous belt servo motor 42 drives each synchronous belt to drive through a synchronous belt driving shaft 43, and when glass is placed on a plurality of synchronous belts, the plurality of synchronous belts can drive the glass to move towards the rear end of the rack.

Example 4, as shown in fig. 1 to 14, a lower glass sheet gripping method using the upper and lower glass sheets of example 3 with a segment gripping device, comprising the steps of:

s1: the PLC controller controls the first roller way conveying mechanism 2 to convey glass, and the position of the glass is detected through the second photoelectric switch and the third photoelectric switch 15 so as to measure and calculate the length of the glass;

specifically, when the first input end of the glass enters the measurement area, the second photoelectric switch responds; when the second photoelectric switch detects the tail end of the glass, the glass completely enters the measuring area, the second photoelectric switch transmits the detection data to the PLC, and the PLC starts to time; when the third photoelectric switch 15 detects the first-in end of the glass, the glass is about to start to leave the measurement area, the third photoelectric switch 15 transmits detection data to the PLC, and the PLC finishes timing; the PLC calculates the conveying distance of the glass in the measuring area according to the conveying time difference of the glass in the measuring area and the conveying speed of the first roller way conveying mechanism 2, and the length calculated by the PLC is subtracted from the length of the measuring area to obtain the length of the glass; the glass length calculated by the PLC is accurate and reliable, and reliable data support can be provided for the glass to be placed on the glass frame 16 in the middle;

s2: the PLC controls the synchronous belt conveying mechanism 4 to convey the glass, and the rear end edge of the glass is aligned to the plurality of positioning rollers 51;

specifically, after the length of the glass is measured, the first roller way conveying mechanism 2 is stopped, the PLC controls the cam lifting mechanism 3 to lift the synchronous belt conveying mechanism 4, the glass is transferred from the conveying surface of the first roller way conveying mechanism 2 to the conveying surface of the synchronous belt conveying mechanism 4, and the synchronous belt conveying mechanism 4 horizontally conveys the glass in the front and back directions until the rear end edge of the glass is aligned with the glass positioning reference edge;

s3: the PLC controller controls the first roller way conveying mechanism 2 to convey glass, the glass is transited from the conveying surface of the first roller way conveying mechanism 2 to the conveying surface of the second roller way conveying mechanism 7 and is conveyed continuously until the glass is aligned to the first photoelectric switch 92 in the middle;

specifically, the glass is conveyed on the second roller conveyor 7, when the first photoelectric switch 92 detects the first-entering end of the glass, the PLC controller controls the second roller conveyor 7 to continue conveying the glass, the length of the continuous conveying is half of the measured glass length minus or plus the distance from the first photoelectric switch 92 to the center line between the plurality of small arms 85, and the position where the glass stops is centered;

s4: the PLC controller electrically controls a plurality of suckers 91 positioned below the conveying surface of the second roller conveying mechanism 7 to adsorb glass;

s5: the PLC controls the large arm 81 to turn over until the small arm 85 is parallel to the glass on the glass frame 16, and simultaneously controls the traverse rack 13 to approach to the direction of the glass frame 16; the transverse moving rack 13 is controlled to move slowly in the safe area away from the glass; the glass adsorbed by the sucker 91 is slowly contacted with the glass stored on the glass rack 16; the PLC controller controls the small arm 85 to descend for placing glass; the PLC controller controls each sucker 91 to be separated from the glass;

s6: the PLC controls the large arm 81 to turn over through electric control and controls the transverse moving rack 13 to be recycled;

specifically, when the suction cups 91 suck the glass placed on the conveying surface of the second roller conveying mechanism 7, the suction cups 91 in the suction areas are used for sucking the glass through the detection conditions of the plurality of first photoelectric switches 92 and combining the calculated length of the glass to select the suction areas matched with the size and the size of the glass, and the suction cups 91 not in the range of the suction areas do not need to participate in the suction, so that the waste of resources can be reduced.

Claims

1. The utility model provides a piece is with segmentation grabbing device about glass which characterized in that: comprises an upper and lower piece conveying mechanism, a glass frame and a PLC controller;

2. The sectional gripping device for upper and lower glass sheets according to claim 1, wherein:

the glass grabbing mechanism comprises a large arm, a large arm servo motor, a small arm driving cylinder, a small arm transmission shaft and a plurality of small arms; the large arm is arranged on the transverse moving rack in a hinged mode; the large arm servo motor is fixedly arranged on the transverse moving rack, the large arm and the large arm servo motor are connected through a large arm crank-link mechanism, and the large arm servo motor drives the large arm to turn through the large arm crank-link mechanism; the small arm driving cylinder is hinged on the large arm; the small arm transmission shaft is rotationally connected with the large arm; the small arm driving cylinder drives the small arm transmission shaft to rotate through the small arm crank connecting rod mechanism; the small arms are arranged in parallel at intervals, a first hinged plate is arranged between each small arm and the large arm, and two ends of each first hinged plate are hinged with the large arm and the small arms respectively; a second hinged plate is arranged between each small arm and the small arm transmission shaft, one end of the second hinged plate is fixedly connected with the small arm transmission shaft, and the other end of the second hinged plate is hinged with the small arm;

the glass grabbing mechanism further comprises a vacuum pump and a plurality of first photoelectric switches; a plurality of suckers are arranged on each small arm at intervals, the suckers on the small arms are arranged in a matrix form to form a plurality of adsorption areas from bottom to top and from inside to outside, and each adsorption area adsorbs glass through the suckers in the range of the adsorption area; the vacuum pump is fixedly arranged on the transverse moving rack; a plurality of first photoelectric switches are arranged on one small arm at intervals; the small arm driving cylinder, each sucker and the vacuum pump are respectively communicated through air source pipes, and each air source pipe is provided with a vacuum valve and a blowing and sucking switching valve; the large arm servo motor, each first photoelectric switch, the vacuum valve and the blowing and sucking switching valve are respectively and electrically connected with the PLC.

3. The sectional gripping device for upper and lower glass sheets according to claim 2, wherein: the second roller track transmission mechanism comprises a second roller track servo motor, a second roller track driving shaft and a plurality of second roller track transmission shafts; the second roller servo motor is fixedly arranged on the transverse moving rack, the second roller driving shaft is rotatably arranged on the transverse moving rack, and the second roller servo motor is in transmission connection with the second roller driving shaft through a toothed chain; the second roller conveying shafts are horizontally arranged at intervals in the left-right direction and are respectively in rotating connection with the transverse moving rack, and each second roller conveying shaft is in transmission connection with the second roller driving shaft through a bevel gear; the plurality of second roller conveying shafts and the plurality of small arms are arranged in a staggered mode.

4. The sectional gripping device for upper and lower glass sheets according to claim 3, wherein: the traveling driving mechanism comprises a transverse moving servo motor, a transverse moving driving shaft, two transverse moving gears and two racks; the transverse moving servo motor is fixedly arranged on the transverse moving rack; the transverse moving driving shaft is rotatably arranged on the transverse moving rack and horizontally extends along the left and right directions; the transverse moving servo motor is in transmission connection with the transverse moving rack; the two traverse gears are respectively and fixedly arranged at two ends of the traverse driving shaft; the two racks are fixedly arranged on the mechanism base and extend along the front-back direction; the two transverse moving gears are respectively meshed with the two racks.

5. The sectional gripping device for upper and lower glass sheets according to claim 4, wherein: the sectional gripping device also comprises a transition conveying mechanism; the transition conveying mechanism comprises a transition rack and a first roller way conveying mechanism;

the first roller way conveying mechanism comprises a first roller way servo motor, a first roller way driving shaft and a plurality of first roller way conveying shafts; the first roller bed servo motor is fixedly arranged on the transition rack, the first roller bed driving shaft is rotatably arranged on the transition rack, and the first roller bed servo motor is in transmission connection with the first roller bed driving shaft through a toothed chain; a plurality of first roller way conveying shafts are horizontally arranged at intervals in the left-right direction and are respectively rotatably connected with the transition rack, and each first roller way conveying shaft is in transmission connection with the first roller way driving shaft through a bevel gear.

6. The sectional gripping device for upper and lower glass sheets according to claim 5, wherein: the transition conveying mechanism also comprises a second photoelectric switch, a third photoelectric switch, a cam lifting mechanism and a synchronous belt conveying mechanism;

the glass conveying device comprises a transition rack, a cam lifting mechanism, a synchronous belt conveying mechanism and a glass conveying mechanism, wherein the cam lifting mechanism is arranged on the transition rack; the glass edge positioning mechanism is arranged on the transition rack and comprises a plurality of positioning rollers which are arranged at the rear end of the transition rack and arranged at intervals along the left and right directions on the same vertical surface, and a plurality of positioning rollers form a glass positioning reference edge.

7. The sectional gripping device for upper and lower glass sheets according to claim 6, wherein: the cam lifting mechanism comprises a cam driving cylinder, two cam transmission shafts, a cam link mechanism and four cam mechanisms; the base of the cam driving cylinder is rotatably arranged on the transition rack; the two cam transmission shafts are horizontally arranged at intervals in the front-back direction and are respectively connected with the transition rack in a rotating way; a cylinder crank is arranged between one of the cam transmission shafts and the cam driving cylinder, one end of the cylinder crank is fixedly connected with the cam transmission shaft, and the other end of the cylinder crank is hinged with a piston rod of the cam driving cylinder; the two cam transmission shafts are connected through at least one cam link mechanism, the cam driving cylinder is used for driving one of the cam transmission shafts to rotate, and the cam link mechanism is used for driving the other cam transmission shaft to synchronously rotate; the four cam mechanisms are respectively arranged between the end parts of the two cam transmission shafts and the bottom end of the synchronous belt transmission mechanism, one end of each cam mechanism is fixedly connected with the cam transmission shaft, and the other end of each cam mechanism is connected with the bottom end of the synchronous belt transmission mechanism in a sliding manner; and a vertical guide mechanism is arranged between the transition rack and the synchronous belt conveying mechanism and is used for guiding the synchronous belt conveying mechanism to lift in the vertical direction.

8. The sectional gripping device for upper and lower glass sheets according to claim 7, wherein: the synchronous belt conveying mechanism comprises a synchronous belt supporting frame, a synchronous belt servo motor, a synchronous belt driving shaft and a plurality of synchronous conveying belts; the bottom end of the synchronous belt supporting frame is connected with each cam mechanism in a sliding manner; the synchronous belt servo motor is fixedly arranged on the synchronous belt supporting frame; the synchronous belt driving shaft is rotatably arranged on the synchronous belt supporting frame and horizontally extends along the left and right directions; the synchronous belt servo motor is in transmission connection with the synchronous belt driving shaft through a toothed chain; the plurality of synchronous conveyor belts are horizontally arranged at intervals along the left-right direction, and the plurality of synchronous conveyor belts and the plurality of first roller bed conveying shafts are arranged in a staggered manner; the front end and the rear end of each synchronous conveying belt are respectively provided with a synchronous belt wheel in a matched mode, one synchronous belt wheel on each synchronous conveying belt is hinged to a synchronous belt supporting frame, and the other synchronous belt wheel is fixedly installed on a synchronous belt driving shaft.

9. A glass loading grabbing method is characterized by comprising the following steps: the glass upper and lower sheets are grabbed by using the segmented grabbing device for glass upper and lower sheets as claimed in any one of claims 2 to 5, and the operation steps are as follows:

s4: when the size of the glass on the glass frame is various specifications, selecting an adsorption area at the bottommost part and the innermost side, and electrically controlling a plurality of suckers in the adsorption area to adsorb the glass and controlling other suckers to blow by a PLC (programmable logic controller); the PLC controls the small arm driving cylinder to drive the small arm to ascend through electricity, and the adsorbed glass is separated from other glass on the glass frame; controlling other suckers to adsorb the glass;

s6: the big arm overturns to target in place, and glass puts on second roller way transport mechanism's conveying face simultaneously, and every sucking disc of PLC controller control all breaks away from glass, and second roller way transport mechanism conveys away glass.

10. A glass lower sheet grabbing method is characterized by comprising the following steps: the lower glass sheet is grabbed by using the segmented grabbing device for the upper and lower glass sheets, which is disclosed by any one of claims 6 to 8, and the operation steps are as follows:

s6: the PLC controller controls the large arm to turn over through electric control and controls the transverse moving rack to be recycled at the same time.