Glass panel handling equipment

Abstract

The present invention discloses a glass panel handling equipment, including: a loading module, a first handling module, a non-conforming panel discharge module, a flipping and dislocation module, a second handling module, a re-inspection module, a mechanical arm transfer module, a carrier streamline, a carrier cover module, a card module, a non-conforming carrier discharge module and a carrier lifting module, wherein the flipping and dislocation module can flip the glass panel after swinging it along a horizontal plane at a certain angle, the execution end of the mechanical arm transfer module can move back and forth above the unloading place of the second handling module, the non-conforming panel discharge module, the re-inspection module and the feeding end of the carrier streamline, the carrier cover module, the card module and the non-conforming carrier discharge module are respectively arranged side by side above the carrier streamline, the non-conforming carrier discharge module can detect whether the carrier is qualified and discharge the non-conforming carrier, and the carrier lifting module can accommodate the carrier. The present invention has a high degree of automation, high handling efficiency and can automatically discharge defective products.

Description

Technical Field

[0001] The invention relates to a transport device, in particular to a glass panel transport device. Background Art

[0002] With the development of the times, industrial production technology is also developing rapidly, and automation equipment is also being used more and more in industrial production. After the screen glass used in current mobile phones is melted and formed, in order to achieve the corresponding physical properties, the mobile phone screen glass needs to be treated with PVD (Physical Vapor Deposition). During the PVD treatment, the glass panel of the mobile phone screen needs to be moved to the PVD carrier. Due to the thinness of the mobile phone screen glass, when the screen glass is moved to the PVD carrier, if it is moved manually, it will not only be inefficient but also easily damage the glass itself. Summary of the invention

[0003] In order to overcome the above defects, the present invention provides a glass panel handling device, which has the advantages of high automation, high handling efficiency and the ability to automatically discharge defective products.

[0004] The technical solution adopted by the present invention to solve its technical problems is: a glass panel handling equipment, including: a loading module, a first handling module, an unqualified panel discharge module, a flipping and dislocation module, a second handling module, a re-inspection module, a mechanical arm transfer module, a carrier streamline, a carrier cover module, a card module, an unqualified carrier discharge module and a carrier lifting module, the loading module can move the glass panel to the first handling module, the first handling module can move the glass panel from the loading module to the flipping and dislocation module, the flipping and dislocation module can swing the glass panel along the horizontal plane at a certain angle and then flip it, the second handling module can move the glass panel from the flipping and dislocation module to a position close to the mechanical arm transfer module, the execution end of the mechanical arm transfer module can pick up and move the glass panel, and the execution end of the mechanical arm transfer module can be at the unloading position of the second handling module, the unqualified panel discharge module, the re-inspection module and the carrier lifting module The carrier lifting module is arranged at the discharge end of the carrier streamline, the carrier is placed on the carrier streamline and can be driven by the carrier streamline to move from the feed end of the carrier streamline to the inside of the carrier lifting module or move reversely, the glass panel can be placed flat on the carrier, the carrier cover module, the card module and the unqualified carrier discharge module are respectively arranged side by side above the carrier streamline, wherein the carrier cover module is located near the feed end of the carrier streamline, the unqualified carrier discharge module is located near the discharge end of the carrier streamline, the carrier cover module can cover the carrier cover on the carrier, the card module can install the card on the carrier cover, the unqualified carrier discharge module can detect whether the carrier is qualified and discharge the unqualified carrier, and the carrier lifting module can accommodate the carrier.

[0005] Optionally, the loading module includes a first motor, a first driven wheel and at least one first belt, the first belt is respectively wound in parallel around the output shaft of the first motor and the first driven wheel, the glass panel can be placed flat on the first belt and approach the first transport module under the drive of the first motor, the first transport module includes a first electric screw, a second electric screw, a third electric screw and a first adsorption mechanism, the second electric screw is fixed to the moving end of the first electric screw, the third electric screw is fixed to the moving end of the second electric screw, the first adsorption mechanism is fixed to the moving end of the third electric screw, the second electric screw , the third electric screw and the first adsorption mechanism can move back and forth along the Y-axis under the drive of the first electric screw, the third electric screw and the first adsorption mechanism can move back and forth along the X-axis under the drive of the second electric screw, the first adsorption mechanism can move back and forth along the Z-axis under the drive of the third electric screw, and at least one first suction cup is provided at one end of the first adsorption mechanism close to the ground. The first suction cup is connected to a vacuum generator, and the first suction cup can adsorb a glass panel placed flat on the loading module from above. The glass panel adsorbed on the first suction cup can be moved to the flipping and dislocation module under the drive of the first conveying module.

[0006] Optionally, the unqualified panel discharge module includes a second motor, a second driven wheel and at least one second belt, the second belt is respectively wound in parallel around the output shaft of the second motor and the second driven wheel, the glass panel can be placed flat on the second belt and moved out of the glass panel handling equipment under the drive of the second motor, the flipping and dislocation module includes a first power slide rail, a carrier, a lifting cylinder, a flipping motor, a second adsorption mechanism and a dislocation cylinder, the carrier is rotatably arranged at the moving end of the first power slide rail, the glass panel can be placed flat on the carrier, the carrier can be moved to directly below the second adsorption mechanism under the drive of the first power slide rail, and the dislocation cylinder is fixed to the first power slide rail Located at one end close to the second adsorption mechanism, the cylinder rod of the offset cylinder can push a corner of the carrier along the horizontal plane, so that the carrier and the glass panel placed flat on the carrier are rotated a certain angle in the horizontal direction, the flipping motor is fixed to the cylinder rod of the lifting cylinder, the second adsorption mechanism is fixed to the output shaft of the flipping motor, and at least one second suction cup is arranged on the second adsorption mechanism, the second suction cup is connected to the vacuum generator, and the second suction cup can adsorb the glass panel placed flat on the carrier from above, the flipping motor and the second adsorption mechanism can move back and forth along the Z axis under the drive of the lifting cylinder, and the glass panel adsorbed on the second suction cup can be flipped along the horizontal plane under the drive of the flipping motor.

[0007] Optionally, the second conveying module includes a fourth electric screw, a fifth electric screw and a first clamping cylinder, the fifth electric screw is fixed to the moving end of the fourth electric screw, the first clamping cylinder is fixed to the moving end of the fifth electric screw, the fifth electric screw and the first clamping cylinder can move back and forth along the X-axis driven by the fourth electric screw, the first clamping cylinder can move back and forth along the Z-axis driven by the fifth electric screw, the first clamping cylinder is provided with two cylinder rods that can approach or move away from each other, the ends of the two cylinder rods are fixed with first clamping claws, the first clamping cylinder can clamp or lower the glass panel from both sides of the glass panel, the re-inspection module includes a camera and a light source, the re-inspection module is arranged between the second conveying module and the robotic arm transfer module, the lens of the camera and the light-emitting end of the light source are aligned upwards.

[0008] Optionally, the robotic arm transfer module includes a robotic arm, a second clamping cylinder and a limit block. The robotic arm is a four-axis robotic arm. The second clamping cylinder and the limit block are fixed to the ends of the robotic arm. The second clamping cylinder and the limit block can move under the drive of the robotic arm. The second clamping cylinder is provided with two cylinder rods that can approach or move away from each other. Second clamping claws are fixed at the ends of the two cylinder rods. The second clamping cylinder can clamp or lower the glass panel from both sides of the glass panel. When the glass panel is clamped by the second clamping cylinder, the front side of the glass panel can be against the limit block.

[0009] Optionally, the carrier streamline includes a second power slide rail, a slide seat, and a third clamping cylinder. There are two second power slide rails, which are arranged in parallel along the X-axis. Both ends of the slide seat are connected to the sliding ends of the second power slide rails. There is at least one third clamping cylinder, which is fixed to the top of the slide seat near the edge. A clamping block is provided at the bottom of the slide seat directly below the actuator end of the third clamping cylinder. The actuator end of the third clamping cylinder can be close to or away from the clamping block along the Z-axis. The carrier is placed on the carrier streamline, and one end of the carrier can extend into the gap between the third clamping cylinder and the clamping block. The third clamping cylinder and the clamping block can cooperate to clamp or release the carrier. When the carrier is in a clamped state, the carrier can move back and forth along the X-axis driven by the second power slide rail.

[0010] As an option, the carrier cover module includes a first gantry, a sixth electric lead screw, a seventh electric lead screw, an eighth electric lead screw, a carrier cover pick-up and placement mechanism and a carrier cover feeding mechanism, the carrier cover feeding mechanism is arranged on one side of the carrier streamline, the first gantry spans the carrier streamline and the carrier cover feeding mechanism, the sixth electric lead screw is fixed to the first gantry along the Y-axis, the seventh electric lead screw is fixed to the moving end of the sixth electric lead screw along the X-axis, the eighth electric lead screw is fixed to the moving end of the seventh electric lead screw along the Z-axis, the carrier cover pick-up and placement mechanism is fixed to the moving end of the eighth electric lead screw, the seventh electric lead screw, the eighth electric lead screw and the carrier cover pick-up and placement mechanism can move back and forth along the Y-axis driven by the sixth electric lead screw, the eighth electric lead screw and the carrier cover pick-up and placement mechanism can move back and forth along the X-axis driven by the seventh electric lead screw, and the carrier cover pick-up and placement mechanism can move back and forth along the eighth electric lead screw The carrier cover plate picking and placing mechanism can absorb the carrier cover plate on the carrier cover plate feeding mechanism and place the carrier cover plate on the carrier. The carrier cover plate feeding mechanism includes a first base, a ninth electric screw rod, a first slide rail, a first lifting seat and a carrier cover plate box. Two first slide rails are fixed on the first base along the Z axis. The two moving ends of the first slide rails are fixed at both ends of the first lifting seat. The moving end of the ninth electric screw rod is fixed to the first lifting seat. The carrier cover plate box is placed on the first lifting seat. An opening for the carrier cover plate to enter and exit is provided above the carrier cover plate box. The carrier cover plates are stacked and placed inside the carrier cover plate box. The carrier cover plate box can move back and forth along the Z axis driven by the ninth electric screw rod.

[0011] Optionally, the card module includes a second gantry, a tenth electric screw, an eleventh electric screw, a card picking and placing mechanism and a card feeding mechanism, the card feeding mechanism is arranged on one side of the carrier streamline, the second gantry spans the carrier streamline and the card feeding mechanism, the tenth electric screw is fixed to the second gantry along the Y-axis, the eleventh electric screw is fixed to the moving end of the tenth electric screw along the Z-axis, the card picking and placing mechanism is fixed to the moving end of the eleventh electric screw, the eleventh electric screw and the card picking and placing mechanism can move back and forth along the Y-axis under the drive of the tenth electric screw, the card picking and placing mechanism can move back and forth along the Z-axis under the drive of the eleventh electric screw, and the end of the card picking and placing mechanism close to the ground is provided with at least one fourth suction cup, the Four suction cups are connected to a vacuum generator, a card push block is fixed next to each fourth suction cup, a protrusion is provided on the top of the carrier cover, a groove is provided on the card, the card picking and placing mechanism can absorb the card on the card feeding mechanism and place the card on the carrier cover, the card push block can push the card so that the protrusion on the top of the carrier cover is stuck in the groove of the card, the card feeding mechanism includes a lifting linear motor and a card box, a moving end that can move back and forth along the Z axis is provided on the top of the lifting linear motor, the bottom of the card box is fixed on the moving end of the lifting linear motor, and an opening for cards to enter and exit is provided on the top of the card box, the cards are stacked inside the card box, and the card box can move back and forth along the Z axis driven by the lifting linear motor.

[0012] Optionally, the unqualified carrier discharge module includes a third gantry, a twelfth electric screw, a thirteenth electric screw, a carrier pick-up and placement mechanism, a detection mechanism and a draw plate, the draw plate is slidably arranged on one side of the carrier streamline, the third gantry spans the carrier streamline and the draw plate, the twelfth electric screw is fixed to the third gantry along the Y axis, the thirteenth electric screw is fixed to the moving end of the twelfth electric screw along the Z axis, the carrier pick-up and placement mechanism and the detection mechanism are fixed to the moving end of the thirteenth electric screw, and the thirteenth electric screw, the detection mechanism and the carrier pick-up and placement mechanism can be on the twelfth electric screw The detection mechanism and the carrier pick-up and placement mechanism can move back and forth along the Y-axis under the drive of the thirteenth electric screw, the carrier pick-up and placement mechanism includes a fourth clamping cylinder, the fourth clamping cylinder is provided with two cylinder rods that can approach or move away from each other, the third clamping claw is fixed to the end of the cylinder rod of the fourth clamping cylinder, the carrier pick-up and placement mechanism can clamp unqualified carriers on the carrier streamline and place them on the drawer plate, the drawer plate can be manually pulled out of the glass panel handling equipment, the detection end of the detection mechanism faces downward, and the detection mechanism can detect whether the carrier is qualified.

[0013] Optionally, the carrier lifting module includes a second base, a fourteenth electric screw, a second slide rail, a second lifting seat and a carrier box, two second slide rails are fixed on the second base along the Z axis, both ends of the second lifting seat are fixed on the movable ends of the two second slide rails, the movable end of the fourteenth electric screw is fixed on the second lifting seat, the carrier box is placed on the second lifting seat, and an opening for the carrier to enter and exit is provided on the side of the carrier box close to the carrier streamline. The carrier box has a multi-layer structure, and one carrier can be placed on each layer. The carrier can be placed inside the carrier box, and the carrier box can move back and forth along the Z axis driven by the fourteenth electric screw.

[0014] The beneficial technical effect of the present invention is that the glass panel handling equipment comprises: a loading module, a first handling module, a defective panel discharge module, a flipping and dislocation module, a second handling module, a re-inspection module, a robotic arm transfer module, a carrier streamline, a carrier cover module, a card module, a defective carrier discharge module and a carrier lifting module. The loading module moves the glass panel to the first handling module, the first handling module transports the glass panel to the flipping and dislocation module, the flipping and dislocation module flips the glass panel and staggers the glass panel at a certain angle so as to place it on the carrier, the second handling module transports the flipped and dislocated glass panel to the robotic arm transfer module, the robotic arm transfer module moves the glass panel to the re-inspection module, and inspects the glass panel. Whether the glass panel is qualified, if it is unqualified, the robot arm transfer module will move the glass panel to the unqualified panel discharge module for discharge, if it is qualified, the robot arm transfer module will place the glass panel on the carrier on the carrier flow line, when the carrier is full of glass panels, the carrier flow line moves the carrier and stops at the carrier cover module, card module and unqualified carrier discharge module one by one, the carrier cover module covers the carrier, the card module installs the card on the carrier cover, the unqualified carrier discharge module detects whether the carrier is qualified, if it is unqualified, the carrier will be discharged, if it is qualified, the carrier flow line will place the carrier full of glass panels inside the carrier lifting module, the whole process is fully automated, and can automatically detect and discharge unqualified products without manual intervention. It has the advantages of high degree of automation, high handling efficiency and automatic discharge of defective products. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a top view of the whole machine of the present invention;

[0016] Figure 2 is a three-dimensional view of the feeding module of the present invention;

[0017] Figure 3 is a three-dimensional view of a failed panel discharge module of the present invention;

[0018] Figure 4 is a three-dimensional view of the first handling module of the present invention;

[0019] Figure 5 It is a three-dimensional view of the flip and dislocation module of the present invention;

[0020] Figure 6 is a three-dimensional view of the second handling module of the present invention;

[0021] Figure 7 is a three-dimensional view of the robot arm transfer module of the present invention;

[0022] Figure 8 is a three-dimensional view of the streamline of the vehicle of the present invention;

[0023] Fig. 9 is a three-dimensional view of a vehicle cover module of the present invention;

[0024] Fig.10 is a three-dimensional view of the carrier cover feeding mechanism of the present invention;

[0025] Fig.11 is a three-dimensional view of a card module of the present invention;

[0026] Fig.12 is a three-dimensional view of the card feeding mechanism of the present invention;

[0027] Fig.13 is a three-dimensional view of a module for discharging unqualified carriers according to the present invention;

[0028] Fig.14 is a three-dimensional view of the vehicle lifting module of the present invention;

[0029] in:

[0030] 1. Loading module; 11. First motor; 12. First driven wheel;

[0031] 13. First belt; 2. First transport module; 21. First electric screw;

[0032] 22. Second electric screw rod; 23. Third electric screw rod; 24. First adsorption mechanism;

[0033] 3. Unqualified panel discharge module; 31. Second motor; 32. Second driven wheel;

[0034] 33. Second belt; 4. Flipping and dislocation module; 41. First power slide rail;

[0035] 42. Carrier; 43. Lifting cylinder; 44. Flipping motor;

[0036] 45. Second adsorption mechanism; 46. Displacement cylinder; 5. Second handling module;

[0037] 51. Fourth electric screw rod; 52. Fifth electric screw rod; 53. First clamping cylinder;

[0038] 6. Re-inspection module; 7. Robotic arm transfer module; 71. Robotic arm;

[0039] 72. Second clamping cylinder; 73. Limit block; 8. Carrier streamline;

[0040] 81. Second power slide rail; 82. Slide seat; 83. Third clamping cylinder;

[0041] 84. Clamping block; 85. Carrier; 9. Carrier cover module;

[0042] 91. The first gantry; 92. The sixth electric screw; 93. The seventh electric screw;

[0043] 94. Eighth electric screw; 95. Carrier cover plate pick-up and placement mechanism;

[0044] 96. Carrier cover feeding mechanism; 961. First base; 962. Ninth electric screw;

[0045] 963, first slide rail; 964, first lifting seat; 965, carrier cover box;

[0046] 97. Carrier cover; 10. Card module; 101. Second gantry;

[0047] 102. tenth electric screw rod; 103. eleventh electric screw rod; 104. card taking and placing mechanism;

[0048] 105. Card feeding mechanism; 1051. Lifting linear motor; 1052. Card box;

[0049] 106, card; 20, unqualified vehicle discharge module; 201, third gantry;

[0050] 202, the twelfth electric screw; 203, the thirteenth electric screw;

[0051] 204, carrier pick-up and placement mechanism; 205, drawer plate; 30, carrier lifting module;

[0052] 301. second base; 302. fourteenth electric screw rod; 303. second slide rail;

[0053] 304. Second lifting seat; 305. Carrier box; 40. Glass panel. DETAILED DESCRIPTION

[0054] In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the specific implementation methods of the present invention are further described in detail below in conjunction with the drawings and examples. The following examples are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0055] This specific embodiment describes in detail the glass panel handling equipment described in this application, such as Figure 1-Figure 14As shown, the glass panel handling equipment includes: a loading module 1, a first handling module 2, a defective panel discharge module 3, a flipping and dislocation module 4, a second handling module 5, a re-inspection module 6, a robot transfer module 7, a carrier streamline 8, a carrier cover module 9, a card module 10, a defective carrier discharge module 20 and a carrier lifting module 30. The loading module 1 can move the glass panel 40 to the first handling module 2, the first handling module 2 can move the glass panel 40 from the loading module 1 to the flipping and dislocation module 4, the flipping and dislocation module 4 can swing the glass panel 40 along the horizontal plane at a certain angle and then flip it, the second handling module 5 can move the glass panel 40 from the flipping and dislocation module 4 to a position close to the robot transfer module 7, the execution end of the robot transfer module 7 can pick up and move the glass panel 40, the execution end of the robot transfer module 7 can move back and forth above the unloading position of the second handling module 5, the defective panel discharge module 3, the re-inspection module 6 and the feeding end of the carrier streamline 8, and the re-inspection module 6 can move the glass panel 40 to the unloading position of the second handling module 5, the defective panel discharge module 3, the re-inspection module 6 and the feeding end of the carrier streamline 8. The module 6 can detect whether the glass panel 40 is qualified, and the unqualified panel discharge module 3 can discharge the unqualified glass panel 40. The carrier lifting module 30 is arranged at the discharge end of the carrier streamline 8. The carrier 85 is placed on the carrier streamline 8 and can be driven by the carrier streamline 8 to move from the feed end of the carrier streamline 8 to the inside of the carrier lifting module 30 or move in the opposite direction. The glass panel 40 can be placed flat on the carrier 85. The carrier cover module 9, the card module 10 and the unqualified carrier discharge module 20 are respectively They are arranged side by side above the carrier streamline 8, wherein the carrier cover module 9 is located near the feed end of the carrier streamline 8, and the unqualified carrier discharge module 20 is located near the discharge end of the carrier streamline 8, the carrier cover module 9 can cover the carrier cover 97 on the carrier 85, the card module 10 can install the card 106 on the carrier cover 97, the unqualified carrier discharge module 20 can detect whether the carrier 85 is qualified and discharge the unqualified carrier 85, and the carrier lifting module 30 can accommodate the carrier 85.The glass panel 40 is moved to the first handling module 2 through the loading module 1, and the first handling module 2 carries the glass panel 40 to the flipping and dislocation module 4, and the flipping and dislocation module 4 turns the glass panel 40 over and staggers the glass panel 40 at a certain angle so as to be placed on the carrier 85. The second handling module 5 carries the flipped and dislocated glass panel 40 to the robot transfer module 7, and the robot transfer module 7 moves the glass panel 40 to the re-inspection module 6 to check whether the glass panel 40 is qualified. If it is unqualified, the robot transfer module 7 moves the glass panel 40 to the unqualified panel discharge module 3 for discharge, and if it is qualified, the robot transfer module 7 places the glass panel 40. On the carrier 85 placed on the carrier streamline 8, when the carrier 85 is filled with glass panels 40, the carrier streamline 8 moves the carrier 85 and stops at the carrier cover module 9, the card module 10 and the unqualified carrier discharge module 20 one by one, the carrier cover module 9 covers the carrier 85 with a carrier cover 97, and the card module 10 installs a card 106 on the carrier cover 97. The unqualified carrier discharge module 20 detects whether the carrier 85 is qualified. If it is unqualified, the carrier 85 is discharged. If it is qualified, the carrier streamline 8 places the carrier 85 filled with glass panels 40 inside the carrier lifting module 30. The whole process is fully automated, and unqualified products can be automatically detected and discharged without manual intervention. It has the advantages of high automation, high handling efficiency and automatic discharge of defective products. In this embodiment, the X axis is. Figure 1 The left and right directions in the Y axis are Figure 1 In the up and down directions, the X-axis and Y-axis are parallel to the ground, and the Z-axis is perpendicular to the ground.

[0056] Optionally, in this embodiment, the loading module 1 includes a first motor 11, a first driven wheel 12 and at least one first belt 13, the first belt 13 is respectively wound in parallel around the output shaft of the first motor 11 and the first driven wheel 12, the glass panel 40 can be placed flat on the first belt 13 and approach the first conveying module 2 under the drive of the first motor 11, the first conveying module 2 includes a first electric screw 21, a second electric screw 22, a third electric screw 23 and a first adsorption mechanism 24, the second electric screw 22 is fixed to the moving end of the first electric screw 21 by bolts, the third electric screw 23 is fixed to the moving end of the second electric screw 22 by bolts, and the first adsorption mechanism 24 is fixed to the third electric screw by bolts. At the moving end of 23, the second electric screw 22, the third electric screw 23 and the first adsorption mechanism 24 can move back and forth along the Y axis under the drive of the first electric screw 21, the third electric screw 23 and the first adsorption mechanism 24 can move back and forth along the X axis under the drive of the second electric screw 22, the first adsorption mechanism 24 can move back and forth along the Z axis under the drive of the third electric screw 23, and the first adsorption mechanism 24 is provided with at least one first suction cup at one end close to the ground, the first suction cup is connected to the vacuum generator, and the first suction cup can adsorb the glass panel 40 placed flat on the loading module 1 from above, and the glass panel 40 adsorbed on the first suction cup can be moved to the flipping and dislocation module 4 under the drive of the first conveying module 2. The electric screw in this embodiment includes a driving motor, a threaded rod and a nut. Both ends of the threaded rod are rotatably arranged on the frame of the screw. The nut and the threaded rod are threadedly connected. The output shaft of the driving motor is connected to one end of the threaded rod. The nut is the movable end of the electric screw. The nut can move back and forth along the threaded rod under the drive of the driving motor. The loading module 1 is used for loading, and the first conveying module 2 can move the glass panel 40 from the loading module 1 to the flipping and dislocation module 4.

[0057] Optionally, in this embodiment, the unqualified panel discharge module 3 includes a second motor 31, a second driven wheel 32 and at least one second belt 33, the second belt 33 is respectively wound in parallel around the output shaft of the second motor 31 and the second driven wheel 32, the glass panel 40 can be placed flat on the second belt 33 and moved out of the glass panel handling equipment under the drive of the second motor 31, the flipping and dislocation module 4 includes a first power rail 41, a carrier 42, a lifting cylinder 43, a flipping motor 44, a second adsorption mechanism 45 and a dislocation cylinder 46, the carrier 42 is rotatably arranged at the moving end of the first power rail 41 through a rotating shaft, the glass panel 40 can be placed flat on the carrier 42, the carrier 42 can be moved to the bottom of the second adsorption mechanism 45 under the drive of the first power rail 41, and the dislocation cylinder 46 is fixed to the first power rail 41 by bolts and is located close to the first power rail 41. Near one end of the second adsorption mechanism 45, the cylinder rod of the offset cylinder 46 can push a corner of the platform 42 along the horizontal plane, so that the platform 42 and the glass panel 40 placed flat on the platform 42 can rotate a certain angle in the horizontal direction. In this embodiment, the swing direction is parallel to the ground, and the swing angle is 3.7 degrees. The flip motor 44 is fixed to the cylinder rod of the lifting cylinder 43 by bolts. The second adsorption mechanism 45 is fixed to the output shaft of the flip motor 44. At least one second suction cup is provided on the second adsorption mechanism 45. The second suction cup is connected to the vacuum generator. The second suction cup can adsorb the glass panel 40 placed flat on the platform 42 from above. The flip motor 44 and the second adsorption mechanism 45 can move back and forth along the Z axis under the drive of the lifting cylinder 43. The glass panel 40 adsorbed on the second suction cup can be flipped along the horizontal plane under the drive of the flip motor 44. The power slide in this embodiment includes a linear drive mechanism, a track and a slider. The slider is slidably arranged on the track. The linear drive mechanism is an electric screw or a cylinder. In this embodiment, the linear drive mechanism is a cylinder. The slider is connected to the cylinder rod of the cylinder. The cylinder rod is parallel to the track. The slider is the moving end of the power slide. The slider can move back and forth along the track under the drive of the cylinder. The unqualified panel discharge module 3 can discharge the unqualified glass panel 40 from the glass panel handling equipment. The flipping and dislocation module 4 can flip the glass panel 40 after dislocation, so that the glass panel 40 can be placed on the carrier 85 at a certain angle.

[0058] Optionally in this embodiment, the second transport module 5 includes a fourth electric screw 51, a fifth electric screw 52 and a first clamping cylinder 53. The fifth electric screw 52 is fixed to the moving end of the fourth electric screw 51 by bolts, and the first clamping cylinder 53 is fixed to the moving end of the fifth electric screw 52 by bolts. The fifth electric screw 52 and the first clamping cylinder 53 can move back and forth along the X-axis under the drive of the fourth electric screw 51, and the first clamping cylinder 53 can move back and forth along the Z-axis under the drive of the fifth electric screw 52. The first clamping cylinder 53 is provided with two cylinder rods that can approach or move away from each other, and the ends of the two cylinder rods are fixed with first clamping claws. The first clamping cylinder 53 can clamp or put down the glass panel 40 from both sides of the glass panel 40. The re-inspection module 6 includes a camera and a light source. The re-inspection module 6 is arranged between the second transport module 5 and the robotic arm transfer module 7, and the lens of the camera and the light-emitting end of the light source are aligned upwards. The second handling module 5 can move the glass panel 40 to the robot arm transfer module 7, and the re-inspection module 6 can detect whether the glass panel 40 is qualified.

[0059] Optionally in this embodiment, the robotic arm transfer module 7 includes a robotic arm 71, a second clamping cylinder 72 and a limit block 73. The robotic arm 71 is a four-axis robotic arm. The second clamping cylinder 72 and the limit block 73 are fixed to the end of the robotic arm 71 by bolts. The second clamping cylinder 72 and the limit block 73 can move under the drive of the robotic arm 71. The second clamping cylinder 72 is provided with two cylinder rods that can approach or move away from each other. Second clamping claws are fixed at the ends of the two cylinder rods. The second clamping cylinder 72 can clamp or lower the glass panel 40 from both sides of the glass panel 40. When the glass panel 40 is clamped by the second clamping cylinder 72, the front side of the glass panel 40 can be against the limit block 73, and the robotic arm transfer module 7 can move the glass panel 40 onto the carrier 85.

[0060] In this embodiment, the carrier streamline 8 includes a second power rail 81, a slide seat 82, and a third clamping cylinder 83. The number of the second power rails 81 is two, and the two second power rails 81 are arranged in parallel along the X-axis. The two ends of the slide seat 82 are connected to the sliding ends of the second power rails 81 by bolts. The number of the third clamping cylinder 83 is at least one, and the third clamping cylinder 83 is fixed to the top of the slide seat 82 near the edge by bolts. The bottom of the slide seat 82 is fixed with a clamping block 84 located at the third clamping cylinder 83 for executing Directly below the end, the actuator end of the third clamping cylinder 83 can be close to or away from the clamping block 84 along the Z axis, and the carrier 85 is placed on the carrier streamline 8. One end of the carrier 85 can extend into the gap between the third clamping cylinder 83 and the clamping block 84. The third clamping cylinder 83 and the clamping block 84 cooperate to clamp or release the carrier 85. When the carrier 85 is in a clamped state, the carrier 85 can move back and forth along the X axis driven by the second power slide rail 81, and the carrier streamline 8 can clamp the carrier 85 and move the carrier 85.

[0061] Optionally, in this embodiment, the carrier cover module 9 includes a first gantry 91, a sixth electric screw 92, a seventh electric screw 93, an eighth electric screw 94, a carrier cover pick-up and placement mechanism 95 and a carrier cover feeding mechanism 96, the carrier cover feeding mechanism 96 is arranged on one side of the carrier streamline 8, the first gantry 91 spans the carrier streamline 8 and the carrier cover feeding mechanism 96, the sixth electric screw 92 is fixed to the first gantry 91 along the Y axis by bolts, the seventh electric screw 93 is fixed to the moving end of the sixth electric screw 92 along the X axis by bolts, and the eighth electric screw 94 is fixed to the moving end of the sixth electric screw 92 along the Z axis by bolts. The seventh electric screw 93 is bolted to the moving end of the seventh electric screw 93, and the carrier cover pick-up and placement mechanism 95 is bolted to the moving end of the eighth electric screw 94. The seventh electric screw 93, the eighth electric screw 94 and the carrier cover pick-up and placement mechanism 95 can move back and forth along the Y axis under the drive of the sixth electric screw 92, the eighth electric screw 94 and the carrier cover pick-up and placement mechanism 95 can move back and forth along the X axis under the drive of the seventh electric screw 93, and the carrier cover pick-up and placement mechanism 95 can move back and forth along the Z axis under the drive of the eighth screw. The end of the carrier cover pick-up and placement mechanism 95 close to the ground is provided with a plurality of The third suction cup is connected to the vacuum generator. The carrier cover plate picking and placing mechanism 95 can absorb the carrier cover plate 97 on the carrier cover plate feeding mechanism 96 and cover the carrier cover plate 97 on the carrier 85. The carrier cover plate feeding mechanism 96 includes a first base 961, a ninth electric screw rod 962, a first slide rail 963, a first lifting seat 964 and a carrier cover plate box 965. The number of the first slide rails 963 is two and they are fixed on the first base 961 by bolts along the Z axis. The two ends of the first lifting seat 964 are fixed with bolts to the two first slide rails 963. At the moving end, the moving end of the ninth electric screw rod 962 is fixed to the first lifting seat 964 by bolts, and the carrier cover box 965 is placed on the first lifting seat 964. An opening for the carrier cover 97 to enter and exit is arranged above the carrier cover box 965. The carrier cover 97 is stacked inside the carrier cover box 965. The carrier cover box 965 can move back and forth along the Z axis driven by the ninth electric screw rod 962. The carrier cover module 9 can cover the carrier cover 97 on the carrier 85 to protect the carrier 85 and the glass panel 40 placed on the carrier 85.

[0062] Optionally, in this embodiment, the card module 10 includes a second gantry 101, a tenth electric screw 102, an eleventh electric screw 103, a card pick-up and placement mechanism 104, and a card feeding mechanism 105. The card feeding mechanism 105 is arranged on one side of the carrier streamline 8, the second gantry 101 spans the carrier streamline 8 and the card feeding mechanism 105, the tenth electric screw 102 is fixed to the second gantry 101 along the Y axis by bolts, and the eleventh electric screw 103 is fixed to the moving end of the tenth electric screw 102 along the Z axis by bolts. The card picking and placing mechanism 104 is fixed to the moving end of the eleventh electric screw 103 by bolts. The eleventh electric screw 103 and the card picking and placing mechanism 104 can move back and forth along the Y axis under the drive of the tenth electric screw 102. The card picking and placing mechanism 104 can move back and forth along the Z axis under the drive of the eleventh electric screw 103. At least one fourth suction cup is provided at one end of the card picking and placing mechanism 104 close to the ground. The fourth suction cup is connected to a vacuum generator. A card push block is fixed next to each fourth suction cup. The carrier The cover plate 97 is provided with a protrusion on the top, and a groove is provided on the card 106. The card picking and placing mechanism 104 can absorb the card 106 on the card feeding mechanism 105 and place the card 106 on the carrier cover plate 97. The card pushing block can push the card 106 so that the protrusion on the top of the carrier cover plate 97 is stuck in the groove of the card 106. The card feeding mechanism 105 includes a lifting linear motor 1051 and a card box 1052. The lifting linear motor 1051 is provided with a moving end that can move back and forth along the Z axis on the top. The bottom of the film box 1052 is fixed to the moving end of the lifting linear motor 1051 by bolts. The top of the card box 1052 is provided with an opening for the card 106 to enter and exit. The card 106 is stacked inside the card box 1052. The card box 1052 can move back and forth along the Z axis under the drive of the lifting linear motor 1051. The card module 10 is used to fix the card 106 on the carrier cover 97, which plays the role of reinforcing the carrier cover 97 and separating the carriers 85 by a certain gap when the carriers 85 are stacked.

[0063] In this embodiment, optionally, the unqualified carrier discharge module 20 includes a third gantry 201, a twelfth electric screw rod 202, a thirteenth electric screw rod 203, a carrier pick-up and placement mechanism 204, a detection mechanism and a drawer plate 205, the drawer plate 205 is slidably arranged on one side of the carrier streamline 8, the third gantry 201 spans the carrier streamline 8 and the drawer plate 205, the twelfth electric screw rod 202 is fixed to the third gantry 201 along the Y axis by bolts, the thirteenth electric screw rod 203 is fixed to the moving end of the twelfth electric screw rod 202 along the Z axis by bolts, the carrier pick-up and placement mechanism 204 and the detection mechanism are fixed to the moving end of the thirteenth electric screw rod 203 by bolts, and the thirteenth electric screw rod 203, the detection mechanism and the carrier pick-up and placement mechanism 204 can be on the twelfth electric screw The rod 202 is driven to move back and forth along the Y-axis. The detection mechanism and the carrier pick-up and placement mechanism 204 can move back and forth along the Z-axis under the drive of the thirteenth electric screw 203. The carrier pick-up and placement mechanism 204 includes a fourth clamping cylinder. The fourth clamping cylinder is provided with two cylinder rods that can approach or move away from each other. The third clamping claw is fixed to the cylinder rod end of the fourth clamping cylinder by bolts. The carrier pick-up and placement mechanism 204 can clamp unqualified carriers 85 on the carrier streamline 8 and place them on the drawer plate 205. The drawer plate 205 can be manually pulled out of the glass panel handling equipment. The detection end of the detection mechanism faces downward. The detection mechanism can detect whether the carrier 85 is qualified. The unqualified carrier discharge module 20 can discharge the unqualified carrier 85 from the glass panel handling equipment.

[0064] Optionally, in this embodiment, the carrier lifting module 30 includes a second base 301, a fourteenth electric screw rod 302, a second slide rail 303, a second lifting seat 304 and a carrier box 305. The number of second slide rails 303 is two and they are fixed to the second base 301 along the Z axis by bolts. Both ends of the second lifting seat 304 are fixed to the movable ends of the two second slide rails 303 by bolts. The movable end of the fourteenth electric screw rod 302 is fixed to the second lifting seat 304 by bolts. The carrier box 305 is placed on the second lifting seat 304. An opening for the carrier 85 to enter and exit is provided on the side of the carrier box 305 close to the carrier streamline 8. The carrier box 305 is a multi-layer structure. One carrier 85 can be placed on each layer. The carrier 85 can be placed inside the carrier box 305. The carrier box 305 can move back and forth along the Z axis under the drive of the fourteenth electric screw rod 302. The carrier lifting module 30 can store the carrier 85.

[0065] Movement process: The loading module 1, driven by the first motor 11, first moves the glass panels 40 placed thereon to the first handling module 2 one by one. The first handling module 2 absorbs the glass panels 40 through the first adsorption mechanism 24, and moves the glass panels 40 to the flipping and dislocation module 4 under the coordinated drive of the first electric screw 21, the second electric screw 22 and the third electric screw 23. The glass panel 40 is driven by the first power slide rail 41 to be directly below the second adsorption mechanism 45. At this time, the dislocation cylinder 46 pushes a corner of the glass panel 40 or the platform 42 so that the glass panel 40 and the platform 42 swing along a certain angle along the horizontal plane. Then, the flipping motor 44 and the second adsorption mechanism 45 are driven by the lifting cylinder 43 to move along the vertical direction. The second suction mechanism 45 sucks the glass panel 40, and the lifting cylinder 43 is reset. The flipping motor 44 flips the second suction mechanism 45 and the glass panel 40 by 180 degrees. At this time, the first clamping cylinder 53 of the second handling module 5 is driven by the fourth electric screw rod 51 and the fifth electric screw rod 52 to move close to the flipping and dislocation module 4. The first clamping cylinder 53 clamps the displaced and flipped glass panel 40 from the flipping and dislocation module 4, and moves to the position close to the robot arm transfer module 7 under the coordinated drive of the fourth electric screw rod 51 and the fifth electric screw rod 52. The robot arm 71 drives the second clamping cylinder 72 and the limit block 73 to move close to the second handling module 5. The second clamping cylinder 72 and the limit block 73 are driven by the fourth electric screw rod 51 and the fifth electric screw rod 52 to move close to the second handling module 5. 3 clamps the glass panel 40 at the second handling module 5, and the mechanical arm 71 drives the glass panel 40 to move to the top of the re-inspection module 6. The re-inspection module 6 detects whether the glass panel 40 on the mechanical arm 71 is qualified. If the glass panel 40 is unqualified, the mechanical arm 71 places the glass panel 40 on the unqualified panel discharge module 3, and discharges the unqualified glass panel 40 from the glass panel handling equipment under the drive of the second motor 31. If the glass panel 40 is qualified, the mechanical arm 71 places the glass panel 40 on the carrier 85 located near the mechanical arm transfer module 7. When the carrier 85 is full of glass panels 40, the third clamping cylinder 83 of the carrier streamline 8 clamps the carrier 85 and moves it to the second power slide rail 81. The carrier 85 is driven to move to the vicinity of the carrier cover module 9, the carrier cover pick-up and placement mechanism 95 is driven by the sixth electric screw 92, the seventh electric screw 93 and the eighth electric screw 94 to move to the carrier cover feeding mechanism 96, the carrier cover pick-up and placement mechanism 95 absorbs the carrier cover 97 from the carrier cover feeding mechanism 96, and covers the carrier cover 97 on the carrier 85, and then the carrier 85 covered with the carrier cover 97 is driven by the second power slide rail 81 to move to the vicinity of the card module 10, the card pick-up and placement mechanism 104 is driven by the tenth electric screw 102 and the eleventh electric screw 103 to move to the card feeding mechanism 105, and the card pick-up and placement mechanism 104 absorbs the card 106 from the card feeding mechanism 105,The card 106 is fixed on the carrier cover 97 covered on the carrier 85, and the card push block is used to push the card 106 so that the protrusion on the top of the carrier cover 97 is inserted into the groove of the card 106. Then, the carrier 85 with the card 106 fixed on the carrier cover 97 is driven by the second power slide rail 81 to move to a position close to the unqualified carrier discharge module 20. The detection mechanism of the unqualified carrier discharge module 20 can detect whether the carrier 85 is qualified. If it is unqualified, the carrier pick-up and placement mechanism 204 is driven by the twelfth electric screw rod 202 and the thirteenth electric screw rod 203 to move to the top of the carrier 85, and the carrier pick-up and placement mechanism 204 is driven by the twelfth electric screw rod 202 and the thirteenth electric screw rod 203 to move to the top of the carrier 85. The unqualified carrier 85 is clamped by the fourth clamping cylinder and placed on the draw plate 205. The unqualified carrier 85 is discharged from the glass panel handling device by manually pulling out the draw plate 205. If the carrier 85 is qualified, the qualified carrier is driven by the second power slide rail 81 to move into the carrier lifting module 30. The third clamping cylinder 83 releases the carrier, and the carrier streamline 8 is reset. The carrier lifting module 30 changes the height of the carrier box 305 until the height of the empty space in the carrier box 305 is equal to the carrier streamline 8, waiting for the next carrier 85 with the glass panel 40 to move in. This is repeated to complete the automatic handling of the carrier 85.

[0066] The glass panel handling equipment of this embodiment has the advantages of high automation, high handling efficiency and the ability to automatically discharge defective products.

Claims

1. A glass panel handling device, characterized in that: include: A loading module (1), a first handling module (2), a non-conforming panel discharge module (3), a flipping and dislocation module (4), a second handling module (5), a re-inspection module (6), a mechanical arm transfer module (7), a carrier streamline (8), a carrier cover module (9), a card module (10), a non-conforming carrier discharge module (20) and a carrier lifting module (30); the loading module (1) can move the glass panel (40) to the first handling module (2); the first handling module (2) can move the glass panel (40) from the loading module (1) to the flipping and dislocation module (4); the flipping and dislocation module (4) can flip the glass panel (40) after swinging it along a horizontal plane at a certain angle; the second handling module (5) can move the glass panel The glass panel (40) is moved from the flipping and dislocation module (4) to a position close to the robot transfer module (7). The execution end of the robot transfer module (7) can pick up and move the glass panel (40). The execution end of the robot transfer module (7) can move back and forth above the unqualified panel discharge module (3), the re-inspection module (6) and the feeding end of the carrier streamline (8). The re-inspection module (6) can detect whether the glass panel (40) is qualified. The unqualified panel discharge module (3) can discharge the unqualified glass panel (40). The carrier lifting module (30) is arranged at the discharge end of the carrier streamline (8). The carrier (85) is placed on the carrier streamline (8) and can be driven by the carrier streamline (8) to be transported from the carrier streamline to the carrier streamline. The feeding end of the carrier line (8) moves to the inside of the carrier lifting module (30) or moves in the opposite direction, the glass panel (40) can be placed flat on the carrier (85), the carrier cover module (9), the card module (10) and the unqualified carrier discharge module (20) are respectively arranged side by side above the carrier flow line (8), wherein the carrier cover module (9) is located near the feeding end of the carrier flow line (8), the unqualified carrier discharge module (20) is located near the discharge end of the carrier flow line (8), the carrier cover module (9) can cover the carrier cover (97) on the carrier (85), the card module (10) can install the card (106) on the carrier cover (97), and the unqualified carrier discharge module (20) can detect whether the carrier (85) is The unqualified carrier (85) is determined to be unqualified and is discharged. The carrier lifting module (30) can accommodate the carrier (85). The unqualified panel discharge module (3) includes a second motor (31), a second driven wheel (32) and at least one second belt (33). The second belt (33) is respectively and parallelly wound around the output shaft of the second motor (31) and the second driven wheel (32). The glass panel (40) can be placed flat on the second belt (33) and moved out of the glass panel handling device under the drive of the second motor (31). The flipping and dislocation module (4) includes a first power slide rail (41), a carrier (42), a lifting cylinder (43), a flipping motor (44), a second adsorption mechanism (45) and a dislocation cylinder (46).The platform (42) is rotatably arranged at the moving end of the first power slide rail (41), the glass panel (40) can be placed flat on the platform (42), the platform (42) can be moved to the right below the second adsorption mechanism (45) under the drive of the first power slide rail (41), the offset cylinder (46) is fixed to one end of the first power slide rail (41) close to the second adsorption mechanism (45), the cylinder rod of the offset cylinder (46) can push a corner of the platform (42) along the horizontal plane, so that the platform (42) and the glass panel (40) placed flat on the platform (42) are rotated by a certain angle in the horizontal plane direction, the flip motor (44) is fixed to the cylinder rod of the lifting cylinder (43), and the second adsorption mechanism (45) is fixed to the flip motor (44) ), the second suction mechanism (45) is provided with at least one second suction cup, the second suction cup is connected to the vacuum generator, the second suction cup can suck the glass panel (40) placed flat on the carrier (42) from above, the flip motor (44) and the second suction mechanism (45) can move back and forth along the Z axis under the drive of the lifting cylinder (43), the glass panel (40) sucked on the second suction cup can be flipped along the horizontal plane under the drive of the flip motor (44), the robot arm transfer module (7) comprises a robot arm (71), a second clamping cylinder (72) and a limit block (73), the robot arm (71) is a four-axis robot arm, the second clamping cylinder (72) and the limit block (73) are fixed to the end of the robot arm (71), and the second The clamping cylinder (72) and the limit block (73) can move under the drive of the mechanical arm (71); the second clamping cylinder (72) is provided with two cylinder rods that can approach or move away from each other; second clamping claws are fixed to the ends of the two cylinder rods; the second clamping cylinder (72) can clamp or put down the glass panel (40) from both sides of the glass panel (40); when the glass panel (40) is clamped by the second clamping cylinder (72), the front side of the glass panel (40) can abut against the limit block (73); the unqualified carrier discharge module (20) comprises a third gantry (201), a twelfth electric screw rod (202), a thirteenth electric screw rod (203), a carrier pick-up and placement mechanism (204), a detection mechanism and a draw plate (205); The plate (205) is slidably arranged on one side of the carrier streamline (8), the third gantry (201) spans the carrier streamline (8) and the draw plate (205), the twelfth electric screw (202) is fixed to the third gantry (201) along the Y axis, the thirteenth electric screw (203) is fixed to the moving end of the twelfth electric screw (202) along the Z axis, the carrier pick-up and placement mechanism (204) and the detection mechanism are fixed to the moving end of the thirteenth electric screw (203), the thirteenth electric screw (203), the detection mechanism and the carrier pick-up and placement mechanism (204) can move back and forth along the Y axis under the drive of the twelfth electric screw (202), and the detection mechanism and the carrier pick-up and placement mechanism (204) can move back and forth along the Z axis under the drive of the thirteenth electric screw (203),The carrier pick-up and placement mechanism (204) includes a fourth clamping cylinder, the fourth clamping cylinder is provided with two cylinder rods that can approach or move away from each other, the third clamping claw is fixed to the end of the cylinder rod of the fourth clamping cylinder, the carrier pick-up and placement mechanism (204) can clamp unqualified carriers (85) on the carrier streamline (8) and place them on the drawer plate (205), the drawer plate (205) can be manually drawn out of the glass panel handling equipment, the detection end of the detection mechanism faces downward, and the detection mechanism can detect whether the carrier (85) is qualified, the carrier lifting module (30) includes a second base (301), a fourteenth electric screw rod (302), a second slide rail (303), a second lifting seat (304) and a carrier box (305), the second slide Two rails (303) are fixed on the second base (301) along the Z axis, two ends of the second lifting seat (304) are fixed on the moving ends of the two second slide rails (303), the moving end of the fourteenth electric screw (302) is fixed on the second lifting seat (304), the carrier box (305) is placed on the second lifting seat (304), and an opening for the carrier (85) to enter and exit is provided on the side of the carrier box (305) close to the carrier streamline (8), the carrier box (305) is a multi-layer structure, each layer can be placed on a carrier (85), the carrier (85) can be placed inside the carrier box (305), and the carrier box (305) can move back and forth along the Z axis under the drive of the fourteenth electric screw (302).

2. The glass panel handling equipment according to claim 1, characterized in that: The loading module (1) comprises a first motor (11), a first driven wheel (12) and at least one first belt (13), the first belt (13) being respectively wound in parallel around the output shaft of the first motor (11) and the first driven wheel (12), the glass panel (40) being able to be placed flat on the first belt (13) and approaching the first transport module (2) under the drive of the first motor (11), the first transport module (2) comprising a first electric screw (21), a second electric screw (22), a third electric screw (23) and a first adsorption mechanism (24), the second electric screw (22) being fixed to the moving end of the first electric screw (21), the third electric screw (23) being fixed to the moving end of the second electric screw (22), and the first adsorption mechanism (24) being fixed to the third electric screw (23) The movable end of the second electric screw (22), the third electric screw (23) and the first adsorption mechanism (24) can move back and forth along the Y axis under the drive of the first electric screw (21), the third electric screw (23) and the first adsorption mechanism (24) can move back and forth along the X axis under the drive of the second electric screw (22), and the first adsorption mechanism (24) can move back and forth along the Z axis under the drive of the third electric screw (23). The first adsorption mechanism (24) is provided with at least one first suction cup at one end close to the ground, the first suction cup is connected to a vacuum generator, and the first suction cup can adsorb a glass panel (40) placed flat on the loading module (1) from above. The glass panel (40) adsorbed on the first suction cup can be moved to the top of the flipping and dislocation module (4) under the drive of the first handling module (2).

3. The glass panel handling equipment according to claim 1, characterized in that: The second transport module (5) comprises a fourth electric screw (51), a fifth electric screw (52) and a first clamping cylinder (53), wherein the fifth electric screw (52) is fixed to the moving end of the fourth electric screw (51), and the first clamping cylinder (53) is fixed to the moving end of the fifth electric screw (52), and the fifth electric screw (52) and the first clamping cylinder (53) can move back and forth along the X-axis under the drive of the fourth electric screw (51), and the first clamping cylinder (53) can move back and forth along the X-axis at the movement of the fifth electric screw (51). The glass panel (40) is driven by the second conveying module (5) and the robot arm transfer module (7). The first clamping cylinder (53) is provided with two cylinder rods that can move closer to or farther away from each other. The ends of the two cylinder rods are fixed with first clamping claws. The first clamping cylinder (53) can clamp or put down the glass panel (40) from both sides of the glass panel (40). The re-inspection module (6) includes a camera and a light source. The re-inspection module (6) is arranged between the second handling module (5) and the robot arm transfer module (7). The lens of the camera and the light-emitting end of the light source are aligned upward.

4. The glass panel handling equipment according to claim 1, characterized in that: The carrier streamline (8) comprises a second power slide rail (81), a slide seat (82), and a third clamping cylinder (83). The number of the second power slide rails (81) is two, and the two second power slide rails (81) are arranged in parallel along the X axis. The two ends of the slide seat (82) are connected to the sliding ends of the second power slide rail (81). The number of the third clamping cylinder (83) is at least one, and the third clamping cylinder (83) is fixed to the top of the slide seat (82) near the edge. A clamping block (84) is arranged at the bottom of the slide seat (82) and is located at the third clamping cylinder (83). Directly below the execution end, the execution end of the third clamping cylinder (83) can be close to or away from the clamping block (84) along the Z axis, the carrier (85) is placed on the carrier streamline (8), one end of the carrier (85) can extend into the gap between the third clamping cylinder (83) and the clamping block (84), the third clamping cylinder (83) and the clamping block (84) can cooperate to clamp or release the carrier (85), when the carrier (85) is in a clamped state, the carrier (85) can move back and forth along the X axis under the drive of the second power slide rail (81).

5. The glass panel handling equipment according to claim 1, characterized in that: The carrier cover module (9) comprises a first gantry (91), a sixth electric screw (92), a seventh electric screw (93), an eighth electric screw (94), a carrier cover pick-up and placement mechanism (95) and a carrier cover feeding mechanism (96); the carrier cover feeding mechanism (96) is arranged on one side of the carrier streamline (8); the first gantry (91) spans the carrier streamline (8) and the carrier cover feeding mechanism (96); the sixth electric screw (92) is fixed to the first gantry (91) along the Y axis; the seventh electric screw (93) is fixed to the moving end of the sixth electric screw (92) along the X axis; The eighth electric screw (94) is fixed to the moving end of the seventh electric screw (93) along the Z axis, the carrier cover pick-up and placement mechanism (95) is fixed to the moving end of the eighth electric screw (94), the seventh electric screw (93), the eighth electric screw (94) and the carrier cover pick-up and placement mechanism (95) can move back and forth along the Y axis under the drive of the sixth electric screw (92), the eighth electric screw (94) and the carrier cover pick-up and placement mechanism (95) can move back and forth along the X axis under the drive of the seventh electric screw (93), and the carrier cover pick-up and placement mechanism (95) can move back and forth along the Z axis under the drive of the eighth screw The carrier cover plate pick-up and placement mechanism (95) is moved back and forth, and at least one third suction cup is arranged at one end close to the ground, and the third suction cup is connected to a vacuum generator. The carrier cover plate pick-up and placement mechanism (95) can absorb the carrier cover plate (97) on the carrier cover plate feeding mechanism (96) and cover the carrier cover plate (97) on the carrier (85). The carrier cover plate feeding mechanism (96) includes a first base (961), a ninth electric screw rod (962), a first slide rail (963), a first lifting seat (964) and a carrier cover plate box (965). The first slide rail (963) has two edges. The Z axis is fixed on the first base (961), the two ends of the first lifting seat (964) are fixed with the movable ends of the two first slide rails (963), the movable end of the ninth electric screw (962) is fixed to the first lifting seat (964), the carrier cover box (965) is placed on the first lifting seat (964), an opening for the carrier cover plate (97) to enter and exit is arranged above the carrier cover box (965), the carrier cover plate (97) is stacked and placed inside the carrier cover box (965), and the carrier cover box (965) can move back and forth along the Z axis under the drive of the ninth electric screw (962).

6. The glass panel handling equipment according to claim 1, characterized in that: The card module (10) comprises a second gantry (101), a tenth electric screw (102), an eleventh electric screw (103), a card taking and placing mechanism (104) and a card feeding mechanism (105); the card feeding mechanism (105) is arranged on one side of the carrier streamline (8); the second gantry (101) spans the carrier streamline (8) and the card feeding mechanism (105); the tenth electric screw (102) is fixed to the second gantry (101) along the Y axis; the eleventh electric screw (103) is fixed to the tenth electric screw (104) along the Z axis; The card picking and placing mechanism (104) is fixed to the moving end of the eleventh electric screw (103), the eleventh electric screw (103) and the card picking and placing mechanism (104) can move back and forth along the Y axis under the drive of the tenth electric screw (102), and the card picking and placing mechanism (104) can move back and forth along the Z axis under the drive of the eleventh electric screw (103), and at least one fourth suction cup is provided at one end of the card picking and placing mechanism (104) close to the ground, and the fourth suction cup is connected to the true The present invention relates to a vacuum generator, a card push block is fixed next to each fourth suction cup, a protrusion is arranged on the top of the carrier cover plate (97), a groove is arranged on the card (106), a card picking and placing mechanism (104) can absorb the card (106) on the card feeding mechanism (105) and place the card (106) on the carrier cover plate (97), the card push block can push the card (106) so that the protrusion on the top of the carrier cover plate (97) is stuck in the groove of the card (106), and the card feeding mechanism (105) includes a lifting linear motor (1051) and a card box (1052), a moving end capable of moving back and forth along a Z axis is arranged on the top of the lifting linear motor (1051), the bottom of the card box (1052) is fixed on the moving end of the lifting linear motor (1051), an opening for cards (106) to enter and exit is arranged on the top of the card box (1052), the cards (106) are stacked inside the card box (1052), and the card box (1052) can move back and forth along the Z axis under the drive of the lifting linear motor (1051).

Images