CN113682035A

CN113682035A - Laminated glass laminating system and laminating method

Info

Publication number: CN113682035A
Application number: CN202111108023.0A
Authority: CN
Inventors: 王金铭; 林强; 林飞; 陈邦立; 林金枝; 范作昌
Original assignee: Fuyao Group Fujian Machinery Manufacture Co ltd
Current assignee: Fuyao Group Fujian Machinery Manufacture Co ltd
Priority date: 2021-09-22
Filing date: 2021-09-22
Publication date: 2021-11-23
Anticipated expiration: 2041-09-22
Also published as: CN113682035B

Abstract

The invention discloses a laminated glass laminating system and a laminated glass laminating method, wherein the laminated glass laminating system comprises a laminating platform, a first conveying mechanism, a second conveying mechanism, a third conveying mechanism and a laminating mechanism, wherein the laminating platform is provided with a laminating station; the first conveying mechanism is used for conveying the outer glass to the laminating station; the second conveying mechanism is used for conveying the film to the film combining station and stacking the film on the concave part of the outer glass sheet; the third conveying mechanism is used for conveying the inner glass to the laminating station and stacking the inner glass on the film; the sheet combining mechanism is used for combining the inner sheet glass, the membrane and the outer sheet glass which are sequentially stacked up and down.

Description

Laminated glass laminating system and laminating method

Technical Field

The invention relates to the technical field of laminated glass preparation, in particular to a laminated glass laminating system and a laminated glass laminating method.

Background

The laminated glass is a composite glass product which is formed by two or more pieces of glass, wherein one or more layers of organic polymer intermediate films are sandwiched between the two or more pieces of glass, and the glass and the intermediate films are permanently bonded into a whole after special high-temperature prepressing (or vacuumizing) and high-temperature high-pressure processing.

The laminated glass generally comprises outer glass, a membrane and inner glass which are stacked, the membrane is stacked on the inner glass in the traditional laminated glass laminating process, the outer glass is stacked on the membrane, and for the curved outer glass, the membrane and the inner glass are required to be arranged at the bulge of the outer glass, so that relative displacement is easy to occur between the inner glass and the outer glass in the laminating process, and the laminating treatment is further influenced; and the laminating process is generally suitable for glass and membranes with similar sizes and contours, and is difficult to be suitable for laminating the glass and membranes with different sizes and contours.

Disclosure of Invention

Based on this, a laminated glass combining system and a laminated glass combining method are provided for the problems that when a traditional laminated glass combining process is used for combining, the outer glass and the inner glass can have relative positions to influence the combination, and the combining process is generally suitable for glass and membranes with similar sizes and contours and is difficult to be suitable for combining the glass and the membranes with different sizes and contours.

The specific technical scheme is as follows:

on one hand, the application relates to a laminated glass laminating system which comprises a laminating platform, a first conveying mechanism, a second conveying mechanism, a third conveying mechanism and a laminating mechanism, wherein the laminating platform is provided with a laminating station; the first conveying mechanism is used for conveying the outer glass to the sheet combining station, and the concave part of the outer glass faces upwards; the second conveying mechanism is used for conveying the film to the film combining station and stacking the film on the concave part of the outer glass sheet; the third conveying mechanism is used for conveying the inner glass to the laminating station and stacking the inner glass on the film; the sheet combining mechanism is used for combining the inner sheet glass, the membrane and the outer sheet glass which are sequentially stacked up and down.

When the laminated glass laminating system is used, the first conveying mechanism conveys the outer glass to the laminating station, the concave part of the outer glass faces upwards, then the second conveying mechanism conveys the membrane to the laminating station and is stacked at the concave part of the outer glass, the third conveying mechanism is used for conveying the inner glass to the laminating station and is stacked on the membrane, the membrane and the inner glass are arranged at the concave part of the outer glass, and when the inner glass, the membrane and the outer glass are integrally conveyed, the inner glass and the membrane are difficult to move relative to the outer glass under the limit of the concave part of the outer glass, so that the subsequent laminating mechanism can conveniently carry out laminating treatment on the outer glass, the membrane and the outer glass; further, for all setting up diaphragm and interior glass in outer glass's protruding department, all set up diaphragm and interior glass in outer glass's depressed place when, can not need diaphragm, interior glass and outer glass to certainly need shape and size similar, and then laminated glass's in this application close piece system can be applicable to the diaphragm that the size shape differs or the same, interior glass and outer glass close the piece, and application scope is wider.

The technical solution is further explained below:

in one embodiment, the laminated glass combining system further comprises a first positioning assembly, the first positioning assembly is used for acquiring combining position information of the outer glass, the second conveying mechanism is used for conveying a membrane to the combining station according to the combining position information and stacking the membrane on the concave of the outer glass, and the third conveying mechanism is used for conveying an inner glass to the combining station according to the combining position information and stacking the inner glass on the membrane.

In one embodiment, the first positioning component is configured to acquire profile information of the outer glass, determine a reference position according to the profile information of the outer glass, and determine the combining position information according to the reference position.

In one embodiment, the first positioning component comprises a first visual sensor and a second visual sensor, and the first visual sensor and the second visual sensor are respectively used for shooting two diagonal features of two opposite corners of the outer glass and determining the profile information of the outer glass according to the two diagonal features.

In one embodiment, the laminated glass combining system further comprises an initial positioning mechanism, wherein the initial positioning mechanism is used for initially positioning the outer glass, so that two opposite corners of the outer glass can correspondingly fall into the visual areas of the first visual sensor and the second visual sensor.

In one embodiment, the second conveying mechanism comprises a first gripper and a second positioning assembly, the second positioning assembly is configured to acquire contour information of the film, the reference position is used as a reference coordinate, a first coordinate of the film relative to the reference position is determined according to the contour information of the film, and the first gripper is used for gripping the film to the film combining station according to the first coordinate and stacking the film on the concave position of the outer glass.

In one embodiment, the second positioning assembly includes a third visual sensor and a fourth visual sensor, and the third visual sensor and the fourth visual sensor are respectively used for shooting two diagonal features of two opposite corners of the diaphragm and determining the contour information of the diaphragm according to the two diagonal features.

In one embodiment, the third conveying mechanism comprises a second gripper and a third positioning assembly, the third positioning assembly is configured to acquire profile information of the inner sheet glass, the reference position is used as a reference coordinate, a second coordinate of the inner sheet glass relative to the reference position is determined according to the profile information of the inner sheet glass, and the second gripper is used for gripping the inner sheet glass to the laminating station according to the second coordinate and stacking the inner sheet glass on the film.

In one embodiment, the third positioning assembly comprises a fifth visual sensor and a sixth visual sensor, and the fifth visual sensor and the sixth visual sensor are respectively used for shooting two diagonal features of two opposite corners of the inner sheet glass and determining the profile information of the inner sheet glass according to the two diagonal features.

In another aspect, the present application further relates to a sheet combining method, comprising the steps of:

arranging outer glass on a laminating station of a laminating platform, wherein the concave part of the outer glass faces upwards;

conveying the membrane to the laminating station and stacking the membrane on the concave part of the outer glass sheet;

conveying the inner glass to the laminating station and stacking the inner glass on the film;

and laminating the inner glass sheet, the membrane sheet and the outer glass sheet which are sequentially stacked up and down.

The technical solution is further explained below:

in one embodiment, before the step of arranging the outer glass on the laminating station of the laminating platform and the concave part of the outer glass faces upwards, the method further comprises the following steps:

and carrying out primary positioning on the outer glass sheet to enable the outer glass sheet to be in a preset detectable position.

In one embodiment, after the step of placing the outer glass on the laminating station of the laminating platform with the recess of the outer glass facing upwards, the method further comprises the following steps before the step of conveying the film to the laminating station and stacking the film on the recess of the outer glass:

and acquiring the outline information of the outer glass, determining a reference position according to the outline information of the outer glass, and determining the sheet combination position information according to the reference position.

In one embodiment, the step of conveying the film sheet to the laminating station and stacking the film sheet on the concave part of the outer glass sheet comprises the following steps:

acquiring contour information of the diaphragm, and determining a first coordinate of the diaphragm relative to the reference position according to the contour information of the diaphragm by taking the reference position as a reference coordinate;

and grabbing the film to the film combining station according to the first coordinate and stacking the film on the concave part of the outer glass.

In one embodiment, the step of conveying the inner glass sheet to the laminating station and stacking the inner glass sheet on the film sheet comprises the following steps:

acquiring contour information of the inner glass, and determining a second coordinate of the inner glass relative to the reference position according to the contour information of the inner glass by taking the reference position as a reference coordinate;

and grabbing the inner glass sheet to the sheet combining station according to the second coordinate and stacking the inner glass sheet on the film.

When the laminating method is used, the outer glass is conveyed to the laminating station, the concave part of the outer glass faces upwards, then the diaphragm is conveyed to the laminating station and stacked at the concave part of the outer glass, the inner glass is conveyed to the laminating station and stacked on the diaphragm, the diaphragm and the inner glass are both arranged at the concave part of the outer glass, and when the inner glass, the diaphragm and the outer glass are integrally conveyed, the inner glass and the diaphragm are difficult to move relative to the outer glass under the limit of the concave part of the outer glass, so that the subsequent laminating mechanism can conveniently laminate the outer glass, the diaphragm and the inner glass; further, for all setting up diaphragm and interior glass in outer glass's protruding department, when all setting up diaphragm and interior glass in outer glass's depressed place, can not need diaphragm, interior glass and outer glass certainly to need shape and size similar, and then the piece method of closing in this application can be applicable to the piece that closes of diaphragm, interior glass and outer glass that the size and shape are different or the same, and application scope is wider.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention.

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

Furthermore, the drawings are not to scale of 1:1, and the relative dimensions of the various elements in the drawings are drawn only by way of example and not necessarily to true scale.

FIG. 1 is a perspective view of a laminating system for laminated glass in one embodiment;

FIG. 2 is a top view of a laminating system for laminated glass in one embodiment;

FIG. 3 is a schematic diagram of a first gripper according to an embodiment;

FIG. 4 is a schematic view of the assembly of a first vision sensor with an intermediate mounting assembly according to one embodiment;

fig. 5 is a flowchart illustrating a sheet combining method according to an embodiment.

Description of reference numerals:

10. a laminated glass laminating system; 100. a sheet combining platform; 200. a first conveying mechanism; 300. a second conveying mechanism; 310. a second positioning assembly; 312. a second mounting bracket; 314. a third vision sensor; 316. a fourth vision sensor; 320. a first gripper; 322. a transverse guide rail; 324. a longitudinal guide rail; 326. a quick-locking slide block; 328. a suction cup; 400. a third conveying mechanism; 410. a third positioning assembly; 412. a third mounting bracket; 414. a fifth vision sensor; 416. a sixth vision sensor; 420. a second gripper; 500. a first positioning assembly; 510. a first mounting bracket; 520. a first vision sensor; 530. a second vision sensor; 600. a middle mounting assembly; 610. a mounting seat; 620. an angular displacement table; 630. a sliding table; 20. an outer sheet of glass; 30. a membrane; 40. an inner sheet of glass.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

The laminated glass generally comprises outer glass, a membrane and inner glass which are stacked, the membrane is stacked on the inner glass in the traditional laminated glass laminating process, the outer glass is stacked on the membrane, and for the curved outer glass, the membrane and the inner glass are required to be arranged at the bulge of the outer glass, so that relative displacement is easy to occur between the inner glass and the outer glass in the laminating process, and the laminating treatment is further influenced; and the laminating process is generally suitable for glass and membranes with similar sizes and contours, and is difficult to be suitable for laminating the glass and membranes with different sizes and contours. Based on this, the present application provides a laminated glass laminating system 10 and a laminating method, when the laminated glass laminating system 10 and the laminating method are used, the inner glass 40 and the membrane 30 are difficult to move relative to the outer glass 20, so that a subsequent laminating mechanism can conveniently laminate the three, and the laminated glass laminating system 10 can be applied to laminating of the membrane 30, the inner glass 40 and the outer glass 20 which are different in size and shape or the same in shape, and the application range is wider.

Referring to fig. 1 and 2, a laminating system 10 for laminated glass in some embodiments includes a laminating platform 100, the laminating platform 100 is provided with a laminating station (not shown), and the outer sheet of glass 20, the inner sheet of glass 40, and the membrane sheet 30 are laminated at the laminating station.

Referring to fig. 1 and fig. 2, the laminated glass laminating system 10 further includes a first conveying mechanism 200, wherein the first conveying mechanism 200 is used for conveying the outer glass 20 to the laminating station, and the concave portion of the outer glass 20 faces upward; specifically, the first conveying mechanism 200 may be a conveying mechanism such as a conveyor belt. When the outer sheet of glass 20 is conveyed to the sheet combining station, the outer sheet of glass 20 may be fixed by a corresponding fixing mechanism, for example, the outer sheet of glass 20 may be sucked by a corresponding suction cup 328 to fix and support the outer sheet of glass 20.

Referring to fig. 1 and fig. 2, the laminated glass laminating system 10 further includes a second conveying mechanism 300, the second conveying mechanism 300 is configured to convey the film 30 to a laminating station and stack the film at the concave of the outer glass 20, and the concave of the outer glass 20 can limit the film 30 to a certain extent, so as to prevent the film 30 from sliding relatively to the outer glass 20 in the subsequent conveying process. Wherein the second conveying mechanism 300 may be a mechanical gripper or the like.

Referring to fig. 1 and 2, the laminated glass laminating system 10 further includes a third conveying mechanism 400, the third conveying mechanism 400 is used for conveying the inner glass 40 to the laminating station and stacking the inner glass on the film sheet 30, wherein the second conveying mechanism 300 may be a mechanical gripper or the like.

The laminated glass laminating system 10 further includes a laminating mechanism (not shown), and after the inner glass 40, the membrane 30 and the outer glass 20 are sequentially stacked up and down, the laminating mechanism performs laminating processing. The laminating mechanism can be a vacuum-pumping device, and the inner glass 40, the membrane 30 and the outer glass 20 are laminated in a vacuum-pumping mode.

Referring to fig. 1 and 2, the use principle of the laminated glass laminating system 10 is as follows: the outer glass 20 is conveyed to a laminating station through a first conveying mechanism 200, the concave part of the outer glass 20 faces upwards, then the membrane 30 is conveyed to the laminating station through a second conveying mechanism 300 and stacked on the concave part of the outer glass 20, the inner glass 40 is conveyed to the laminating station through a third conveying mechanism 400 and stacked on the membrane 30, the membrane 30 and the inner glass 40 are both arranged at the concave part of the outer glass 20, and when the inner glass 40, the membrane 30 and the outer glass 20 are conveyed integrally, the inner glass 40 and the membrane 30 are difficult to move relative to the outer glass 20 under the limit of the concave part of the outer glass 20, so that a subsequent laminating mechanism can carry out laminating treatment on the outer glass 20 conveniently.

In for traditional piece technology of closing, all set up diaphragm 30 and interior glass 40 in the protruding department of outer glass 20, this application with diaphragm 30 and interior glass 40 all set up in the depressed part of outer glass 20 when, can not need diaphragm 30, interior glass 40 and outer glass 20 certainly to need shape and size similar, and then laminated glass's in this application close piece system 10 can be applicable to the piece that closes of diaphragm 30, interior glass 40 and outer glass 20 that the size and shape differ or the same, application scope is wider.

In addition, outer glass 20 is carrying to when closing the piece station, and the depressed part of outer glass 20 up need not to overturn outer glass 20, and outer glass 20 omits the control upset in transportation process, and then has reduced the upset step, carries more convenient and efficient. The convex surface of the inner glass sheet 40 is upwards transmitted, and the concave part of the outer glass sheet 20 and the convex surface of the inner glass sheet 40 are sheet-combining surfaces, so that the sheet-combining surfaces are not contacted in the transmission process, the sheet-combining surfaces are not polluted, and the yield in the sheet-combining process is ensured. When the outer glass 20, the membrane 30 and the inner glass 40 are laminated, the stacking accuracy among the three needs to be ensured, and the deviation of the stacking position among the three is avoided, so that the membrane 30, the inner glass 40 and the outer glass 20 need to be positioned when the membrane 30 and the inner glass 40 are stacked on the outer glass 20.

For example, referring to fig. 1 and fig. 2, in some embodiments, the laminated glass laminating system 10 further includes a first positioning assembly 500, the first positioning assembly 500 is configured to obtain laminating position information on the outer glass 20, the second conveying mechanism 300 is configured to convey the film sheet 30 to the laminating station and stack the film sheet in the concave of the outer glass 20 according to the laminating position information, and the third conveying mechanism 400 is configured to convey the inner glass 40 to the laminating station and stack the film sheet 30 according to the laminating position information.

The piece combination position information may be coordinate information of a position to be combined on the outer piece of glass 20 in a certain coordinate system. The determination of the laminating position information can be confirmed based on the shape and size of the outer sheet glass 20.

For example, referring to fig. 1 and 2, in some embodiments, the first positioning assembly 500 is configured to acquire profile information of the outer sheet 20, determine a reference position according to the profile information of the outer sheet 20, and determine the sheet combining position information according to the reference position. When stacking, the reference position may be used as the origin of the coordinate system, and the stitching position information may be the coordinates of the reference position, i.e., the origin of the coordinate system. In other embodiments, the stitching location information may be a coordinate location offset from the reference location by a distance. It is understood that the specific tab positions can be set as desired.

The contour information of the outer sheet glass 20 can be obtained by shooting with a corresponding camera. In the production and preparation process, the size and the contour information of the outer sheet of glass 20 are generally stored in a corresponding database, and in the database, the contour information of the outer sheet of glass 20 can be corresponded according to a certain characteristic parameter of the outer sheet of glass 20, so that when the contour information of the outer sheet of glass 20 is obtained, only a certain characteristic parameter of the outer sheet of glass 20 needs to be obtained.

For example, referring to fig. 1 and fig. 2, in some embodiments, the first positioning assembly 500 includes a first vision sensor 520 and a second vision sensor 530, and the first vision sensor 520 and the second vision sensor 530 are respectively used for correspondingly capturing two diagonal features of two opposite corners in the outer sheet of glass 20 and determining the contour information of the outer sheet of glass 20 according to the two diagonal features. In use, the profile information of the outer sheet of glass 20 and the diagonal features may be in one-to-one correspondence in the database, and the profile information of the outer sheet of glass 20 can be obtained after the diagonal features of the outer sheet of glass 20 are obtained.

Specifically, the first and

second vision sensors

520 and 530 may be cameras such as cameras.

Before the outer glass sheet 20 is conveyed to the sheet combining station, the outer glass sheet 20 needs to be initially positioned so that two opposite corners of the outer glass sheet 20 can fall into the visual areas of the first visual sensor 520 and the second visual sensor 530 correspondingly. For example, in some embodiments, the laminated glass laminating system 10 further comprises a primary positioning mechanism (not shown) for primary positioning of the outer sheet of glass 20. Specifically, the primary positioning mechanism may be a clamping assembly, and the clamping assembly clamps and positions the primary positioning mechanism to ensure that two opposite corners of the outer glass sheet 20 can fall into the vision areas of the first vision sensor 520 and the second vision sensor 530.

Referring to fig. 1, in some embodiments, the first positioning assembly 500 further includes a first mounting bracket 510, and one end of the first mounting bracket 510 is fixedly disposed on the laminating platform 100 or a mounting base, where the mounting base may be a ground or other base. The first vision sensor 520 and the second vision sensor 530 are fixedly arranged at the other end of the first mounting bracket 510 and are arranged at intervals with the sheet combining station or the mounting base body. Thus, the first visual sensor 520 and the second visual sensor 530 can be in non-contact with the outer sheet of glass 20, so that the outer sheet of glass 20 can be prevented from being deformed and bent when the outer sheet of glass 20 is shot, and the repeated shooting precision is high.

According to the laminating principle explained in the foregoing, after the outer glass 20 is conveyed to the laminating station and the laminating position of the outer glass 20 is positioned, the membrane 30 needs to be conveyed to the laminating station and stacked on the concave portion of the outer glass 20, and when the membrane 30 is conveyed, the membrane 30 still needs to be positioned so as to be accurately stacked on the outer glass 20.

For example, referring to fig. 1 and 2, in some embodiments, the second conveying mechanism 300 includes a first hand 320 and a second positioning assembly 310, the second positioning assembly 310 is configured to acquire contour information of the film sheet 30, determine a first coordinate of the film sheet 30 relative to a reference position according to the contour information of the film sheet 30 with the reference position as a reference coordinate, and the first hand 320 is configured to grip the film sheet 30 to the laminating station and stack the film sheet in the recess of the outer glass 20 according to the first coordinate.

Specifically, the first hand grip 320 may be a mechanical hand grip or a pneumatic hand grip, such as the suction cup 328. For example, referring to fig. 3, in some embodiments, the first gripper 320 is a suction cup 328 mechanism, the suction cup 328 mechanism includes a cross rail 322 and a longitudinal rail 324, at least two suction cups 328 are disposed on each cross rail 322, each suction cup 328 is movably disposed on the cross rail 322 through a quick lock slider 326, and the position of the suction cup 328 is adjusted by the quick lock slider 326 to meet different specifications for gripping the film 30; the sucking disc 328 mechanism also comprises a vacuum valve group, the vacuum valve group separately controls each row of sucking discs 328, and vacuum is broken from the middle to the two sides, so that the accuracy of the diaphragm 30 for stacking the curved glass is met.

It is understood that the contour information of the diaphragm 30 can be captured by a corresponding camera. In the manufacturing process, the size and the profile information of the diaphragm 30 are generally stored in a corresponding database, and the profile information of the diaphragm 30 in the database can be corresponded according to a certain characteristic parameter of the diaphragm 30, so that when the profile information of the diaphragm 30 is obtained, only the certain characteristic parameter of the diaphragm 30 needs to be obtained.

For example, referring to fig. 1 and 2, in some embodiments, the second positioning assembly 310 includes a third vision sensor 314 and a fourth vision sensor 316, and the third vision sensor 314 and the fourth vision sensor 316 are respectively used for capturing two diagonal features of the diaphragm 30 and determining the contour information of the diaphragm 30 according to the two diagonal features. In use, the contour information of the diaphragm 30 and the diagonal features may be in a one-to-one correspondence in the database, and the contour information of the diaphragm 30 can be obtained after the diagonal features of the diaphragm 30 are obtained.

Specifically, the third visual sensor 314 and the fourth visual sensor 316 may be cameras such as cameras.

Referring to fig. 1, in some embodiments, the second positioning assembly 310 further includes a second mounting bracket 312, the second conveying mechanism 300 further includes a first mounting table (not shown) for carrying the membrane 30, and one end of the second mounting bracket 312 is fixed to the first mounting table or a mounting base, where the mounting base may be a ground or other base. The third visual sensor 314 and the fourth visual sensor 316 are fixedly arranged at the other end of the second mounting bracket 312 and are spaced from the first mounting table or the mounting base. Thus, the third visual sensor 314 and the fourth visual sensor 316 can be in non-contact with the diaphragm 30, so that the diaphragm 30 can be prevented from being deformed and bent when the diaphragm 30 is shot, and the repeated shooting precision is high.

According to the laminating principle explained in the foregoing, after the film 30 is conveyed to the laminating station and stacked in the concave of the outer glass 20, the inner glass 40 is subsequently conveyed to the laminating station and stacked on the film 30, and when the inner glass 40 is conveyed, the inner glass 40 still needs to be positioned so as to be accurately stacked on the film 30.

For example, referring to fig. 1 and 2, in some embodiments, the third conveying mechanism 400 includes a second gripper 420 and a third positioning assembly 410, the third positioning assembly 410 is configured to acquire the profile information of the inner sheet of glass 40, determine a second coordinate of the inner sheet of glass 40 relative to the reference position according to the profile information of the inner sheet of glass 40 by using the reference position as a reference coordinate, and the second gripper 420 is configured to grip the inner sheet of glass 40 to the laminating station and stack the inner sheet of glass 40 on the film 30 according to the second coordinate. In particular, the second hand grip 420 may be a mechanical hand grip or a pneumatic hand grip, such as the suction cup 328.

It is understood that the contour information of the inner sheet glass 40 can be captured by the corresponding camera. In the production and preparation process, the size and the contour information of the inner sheet of glass 40 are generally stored in a corresponding database, and the contour information of the inner sheet of glass 40 in the database can be corresponded according to a certain characteristic parameter of the inner sheet of glass 40, so that when the contour information of the inner sheet of glass 40 is obtained, only a certain characteristic parameter of the inner sheet of glass 40 needs to be obtained.

For example, referring to fig. 1 and 2, in some embodiments, the third positioning assembly 410 includes a fifth vision sensor 414 and a sixth vision sensor 416, and the fifth vision sensor 414 and the sixth vision sensor 416 are respectively used for shooting two diagonal features of two opposite corners of the inner sheet of glass 40 and determining the contour information of the inner sheet of glass 40 according to the two diagonal features. In use, the profile information of the inner sheet of glass 40 and the diagonal features may be in one-to-one correspondence in the database, and the profile information of the inner sheet of glass 40 can be obtained after the diagonal features of the inner sheet of glass 40 are obtained.

Specifically, the fifth and sixth

visual sensors

414 and 416 may be cameras such as cameras.

Referring to fig. 1, in some embodiments, the third positioning assembly 410 further includes a third mounting bracket 412, and the third conveying mechanism 400 further includes a second mounting stage or mounting base for carrying the inner sheet of glass 40, wherein the mounting base may be a floor or other base. One end of the third mounting bracket 412 is fixedly disposed on the second mounting platform, and the fifth vision sensor 414 and the sixth vision sensor 416 are fixedly disposed on the other end of the third mounting bracket 412 and spaced apart from the second mounting platform. In this way, the fifth visual sensor 414 and the sixth visual sensor 416 can be in non-contact with the inner sheet of glass 40, so that the inner sheet of glass 40 can be prevented from being deformed and bent when the inner sheet of glass 40 is photographed, and the repeated photographing precision is high.

It should be noted that, when the outer glass 20, the membrane 30 and the inner glass 40 are combined, the same reference position is adopted when the membrane 30 and the inner glass 40 are positioned, so that the accumulated error generated when the membrane 30 and the inner glass 40 are positioned can be reduced, and the combining precision of the outer glass 20, the membrane 30 and the inner glass 40 can be improved.

In some embodiments, the first, second, third, fourth, fifth and

sixth vision sensors

520, 530, 314, 316, 414 and 416 may be mounted to the corresponding brackets by an intermediate mounting assembly 600. The middle mounting assembly 600 may include a mounting base 610, an angular displacement table 620 and a sliding table 630, the sliding table 630 is movably connected to the mounting base 610, each vision sensor is correspondingly connected to the sliding table 630 through the angular displacement table 620, and the shooting height and shooting angle of each vision sensor are adjusted through the sliding table 630 and the angular displacement table 620. Fig. 4 illustrates an assembly of the first vision sensor 520 and the intermediate mounting assembly 600, taking the first vision sensor 520 as an example.

In addition, referring to fig. 5, an embodiment further relates to a sheet combining method, including the following steps:

s100: arranging the outer glass sheet 20 on a sheet combining station of the sheet combining platform 100, wherein the concave part of the outer glass sheet 20 faces upwards;

specifically, the first conveying mechanism 200 in any of the foregoing embodiments may be used to dispose the outer glass sheet 20 on the sheet combining station of the sheet combining platform 100, with the concave portion of the outer glass sheet 20 facing upward.

S200: conveying the membrane 30 to a laminating station and stacking the membrane at the concave position of the outer glass sheet 20;

specifically, the second conveying mechanism 300 in any of the foregoing embodiments may be used to dispose the outer glass sheet 20 on the sheet combining station of the sheet combining platform 100, with the concave portion of the outer glass sheet 20 facing upward.

S300: conveying the inner glass sheet 40 to a sheet combining station and stacking the inner glass sheet on the membrane 30;

specifically, the third conveying mechanism 400 in any of the foregoing embodiments may be used to dispose the outer glass sheet 20 on the sheet combining station of the sheet combining platform 100, with the concave portion of the outer glass sheet 20 facing upward.

And S400, laminating the inner glass sheet 40, the membrane sheet 30 and the outer glass sheet 20 which are sequentially laminated up and down.

Specifically, the inner glass 40, the membrane sheet 30, and the outer glass 20 stacked in this order may be laminated using the laminating mechanism in any of the embodiments described above.

When the outer glass 20, the membrane 30 and the inner glass 40 are laminated, the stacking accuracy among the three needs to be ensured, and the deviation of the stacking position among the three is avoided, so that the membrane 30, the inner glass 40 and the outer glass 20 need to be positioned when the membrane 30 and the inner glass 40 are stacked on the outer glass 20.

For example, in some embodiments, between steps S100 and S200 includes:

and acquiring the outline information of the outer glass sheet 20, determining a reference position according to the outline information of the outer glass sheet 20, and determining the sheet combination position information according to the reference position.

Specifically, the first positioning assembly 500 in any of the foregoing embodiments may be used to acquire the contour information of the outer sheet 20, determine the reference position according to the contour information of the outer sheet 20, and determine the sheet combination position information according to the reference position. The method for acquiring the contour information of the outer sheet of glass 20 by the first positioning assembly 500, the reference position determined according to the contour information of the outer sheet of glass 20, and the sheet combination position determined according to the reference position are described in the foregoing embodiments, and are not repeated herein.

In some embodiments, step S200 comprises:

acquiring contour information of the diaphragm 30, determining a first coordinate of the diaphragm 30 relative to a reference position according to the contour information of the diaphragm 30 by taking the reference position as a reference coordinate; and grabbing the film sheet 30 to a sheet combining station according to the first coordinate and stacking the film sheet on the concave part of the outer glass sheet 20.

Specifically, profile information of the diaphragm 30 can be acquired by the second positioning assembly 310 in any of the foregoing embodiments, and a first coordinate of the diaphragm 30 relative to a reference position is determined according to the profile information of the diaphragm 30 with the reference position as a reference coordinate; the film sheet 30 can be subsequently grasped by the first gripper 320 in any of the previous embodiments according to the first coordinate to the laminating station and stacked on the concave portion of the outer glass sheet 20. The method for acquiring the contour information of the membrane 30 by the second positioning assembly 310 has been described in the foregoing embodiments, and is not described herein.

In some embodiments, step S300 includes:

acquiring contour information of the inner glass sheet 40, and determining a second coordinate of the inner glass sheet 40 relative to the reference position according to the contour information of the inner glass sheet 40 by taking the reference position as a reference coordinate; and grabbing the inner glass sheet 40 to the sheet combining station according to the second coordinate and stacking the inner glass sheet on the film sheet 30.

Specifically, the contour information of the inner sheet of glass 40 can be acquired by the third positioning assembly 410 in any of the foregoing embodiments, and the second coordinate of the inner sheet of glass 40 relative to the reference position is determined according to the contour information of the inner sheet of glass 40 by taking the reference position as the reference coordinate; the inner glass sheet 40 can then be grabbed to the laminating station and stacked at the film sheet 30 according to the second coordinate by the second grabber 420 in any of the previous embodiments. The method for acquiring the contour information of the inner sheet of glass 40 by the third positioning assembly 410 has been described in the foregoing embodiments, and is not described herein again.

In one embodiment, the method further includes the following steps before step S100:

s10: and carrying out primary positioning on the outer glass sheet 20 to enable the outer glass sheet 20 to be in a preset detectable position.

Specifically, the outer sheet of glass 20 may be initially positioned by the initial positioning mechanism in any of the embodiments described above. For example, before the outer glass sheet 20 is conveyed to the sheet combining station, the outer glass sheet 20 needs to be initially positioned by the initial positioning mechanism, so that two opposite corners of the outer glass sheet 20 can correspondingly fall into the visual areas of the first visual sensor 520 and the second visual sensor 530.

The use principle of the sheet combining method is as follows: firstly, conveying the outer glass 20 to a laminating station, wherein the concave part of the outer glass 20 faces upwards, then conveying the membrane 30 to the laminating station and overlapping the membrane 30 at the concave part of the outer glass 20, conveying the inner glass 40 to the laminating station and overlapping the membrane 30, wherein the membrane 30 and the inner glass 40 are both arranged at the concave part of the outer glass 20, and when the inner glass 40, the membrane 30 and the outer glass 20 are integrally conveyed, the inner glass 40 and the membrane 30 are difficult to move relative to the outer glass 20 under the limit of the concave part of the outer glass 20, so that a subsequent laminating mechanism can conveniently laminate the outer glass 20 and the inner glass 20; further, for all setting up diaphragm 30 and interior glass 40 in the protruding department of outer glass 20, when setting up diaphragm 30 and interior glass 40 in the concave part of outer glass 20, can not need diaphragm 30, interior glass 40 and outer glass 20 certainly to need shape and size similar, and then the method of closing in this application can be applicable to the piece that closes of diaphragm 30, interior glass 40 and outer glass 20 that the size shape is different or the same, and application scope is wider.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A laminated glass laminating system, comprising:

the sheet combining platform is provided with a sheet combining station;

the first conveying mechanism is used for conveying the outer glass to the sheet combining station, and the concave part of the outer glass faces upwards;

the second conveying mechanism is used for conveying the membrane to the laminating station and stacking the membrane on the concave part of the outer glass;

the third conveying mechanism is used for conveying the inner glass to the laminating station and stacking the inner glass on the film; and

and the sheet combining mechanism is used for combining the inner sheet glass, the membrane and the outer sheet glass which are sequentially stacked up and down.

2. The laminated glass combining system according to claim 1, further comprising a first positioning assembly, wherein the first positioning assembly is configured to obtain combining position information on the outer glass, the second conveying mechanism is configured to convey a film sheet to the combining station according to the combining position information and stack the film sheet in a recess of the outer glass, and the third conveying mechanism is configured to convey an inner glass to the combining station according to the combining position information and stack the inner glass on the film sheet.

3. The laminated glass combining system according to claim 2, wherein the first positioning component is configured to acquire profile information of the outer glass, determine a reference position according to the profile information of the outer glass, and determine the combining position information according to the reference position.

4. The laminated glass combining system according to claim 3, wherein the first positioning component comprises a first visual sensor and a second visual sensor, and the first visual sensor and the second visual sensor are respectively used for shooting two opposite-angle characteristics of the outer glass and determining the profile information of the outer glass according to the two opposite-angle characteristics.

5. The laminated glass combining system according to claim 4, further comprising a primary positioning mechanism, wherein the primary positioning mechanism is configured to perform primary positioning on the outer glass, so that two opposite corners of the outer glass can correspondingly fall into the visual areas of the first visual sensor and the second visual sensor.

6. The laminated glass laminating system according to claim 3, wherein the second conveying mechanism comprises a first gripper and a second positioning assembly, the second positioning assembly is configured to acquire profile information of the film, determine a first coordinate of the film relative to the reference position according to the profile information of the film by taking the reference position as a reference coordinate, and the first gripper is configured to grip the film to the laminating station according to the first coordinate and stack the film on the recess of the outer glass.

7. The laminated glass laminating system according to claim 6, wherein the second positioning assembly comprises a third vision sensor and a fourth vision sensor, the third vision sensor and the fourth vision sensor are respectively used for shooting two opposite diagonal features of the membrane, and determining the contour information of the membrane according to the two opposite diagonal features.

8. The laminated glass laminating system according to claim 3, wherein the third conveying mechanism comprises a second gripper and a third positioning assembly, the third positioning assembly is configured to acquire profile information of the inner sheet, determine a second coordinate of the inner sheet relative to the reference position according to the profile information of the inner sheet with the reference position as a reference coordinate, and the second gripper is configured to grip the inner sheet to the laminating station according to the second coordinate and stack the inner sheet on the film.

9. The laminated glass laminating system according to claim 8, wherein the third positioning assembly comprises a fifth visual sensor and a sixth visual sensor, the fifth visual sensor and the sixth visual sensor are respectively used for shooting two diagonal features of two opposite corners of the inner glass and determining the contour information of the inner glass according to the two diagonal features.

10. A laminating method is characterized by comprising the following steps:

11. The method according to claim 10, wherein before the step of arranging the outer glass on the laminating station of the laminating platform, the method further comprises the following steps:

12. The laminating method according to claim 10, wherein after the step of placing the outer glass on the laminating station of the laminating platform with the recess of the outer glass facing upward, and before the step of conveying the film sheet to the laminating station and stacking the film sheet on the recess of the outer glass, the method further comprises:

13. The laminating method according to claim 12, wherein the step of conveying the film sheet to the laminating station and stacking the film sheet on the recess of the outer glass sheet comprises:

14. The laminating method of claim 12, wherein the step of conveying the inner sheet of glass to the laminating station and stacking the inner sheet of glass on the film sheet comprises: