Glass substrate centering transport

Abstract

The application provides a glass substrate centering conveying device, which comprises a rack, a carrying robot arranged on one side of the rack and used for carrying glass substrates of different sizes to above the rack, a conveying line arranged on the rack and used for conveying the glass substrates, a jacking mechanism arranged on the rack and used for jacking up the glass substrates and transferring the glass substrates from the carrying robot to the conveying line, and a first centering mechanism and a second centering mechanism arranged on the rack and used for aligning the center line of the glass substrates to the center line of the rack. The device can center and align the glass substrates of different sizes before conveying, and when the size of the glass substrate is changed, the device does not need to be stopped for structural adjustment, and the production efficiency is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of glass substrate processing device, in particular to a glass substrate centering and conveying device. BACKGROUND

[0002] Glass substrate is a basic component of liquid crystal display device, which is a thin glass sheet with extremely flat surface and is one of the key basic materials of flat panel display industry. The cleanliness of glass substrate has a crucial influence on the whole process of liquid crystal panel, so the glass substrate needs to be cleaned in the processing process to remove the small particles and other residues on its surface.

[0003] With the increasing diversification of terminal products using liquid crystal display panel, the demand for various sizes of display panels is extremely strong in the market, so the size of glass substrate is also various. Under this background, there is a demand for cleaning different sizes of glass substrates in the same cleaning device. The cleaning effect of the middle part of the common cleaning device is good, so when different sizes of glass substrates are conveyed into the cleaning device, the glass substrates need to be centered and aligned first and then conveyed. There is no special device in the prior art that can achieve this purpose. SUMMARY

[0004] In order to overcome the shortcomings of the prior art, the present application provides a glass substrate centering and conveying device, which can center and align different sizes of glass substrates before conveying, and when the size of the glass substrate is changed, it does not need to stop for structural adjustment, greatly improving the production efficiency.

[0005] To achieve the above purpose, the glass substrate centering and conveying device of the present application comprises a rack, a handling robot on one side of the rack for handling different sizes of glass substrates to the upper part of the rack, a conveying line on the rack for conveying the glass substrates, a lifting mechanism on the rack for lifting the glass substrates and transferring them from the handling robot to the conveying line, and a first centering mechanism and a second centering mechanism on the rack for aligning the center line of the glass substrate to the center line of the rack.

[0006] Further, the rack comprises a pair of parallel square tubes, a first bottom plate, a second bottom plate and a third bottom plate connected between the two square tubes and parallel to each other, a driving bracket provided at the top of the square tube away from the handling robot, and a driven bracket provided at the top of the other square tube, the conveying line comprising a driving motor provided at one end of the driving bracket, the output end of the driving motor being connected with a driving spindle parallel to the driving bracket, a driven spindle parallel to the driving spindle being provided on the driven bracket, the conveying line comprising a plurality of transmission shafts perpendicular to the driving spindle, the two ends of the transmission shaft being connected to the driving spindle and the driven spindle through gear pairs, and a plurality of rollers being provided on the transmission shaft.

[0007] Furthermore, the transmission line includes several driving shafts, one end of which is connected to the driving main shaft through a gear pair. The transmission line includes several driven shafts, one end of which is connected to the driven main shaft through a gear pair. Several rollers are respectively provided on the driving shaft and the driven shaft.

[0008] Furthermore, the driving bracket is provided with a bearing seat assembly for supporting the driving main shaft, the driving bracket is provided with a bearing seat assembly for supporting the transmission shaft and the driving shaft, the driven bracket is provided with a bearing seat assembly for supporting the transmission shaft and the driven shaft, and the first base plate, the second base plate and the third base plate are respectively provided with bearing seat assemblies for supporting the transmission shaft, the driving shaft and the driven shaft.

[0009] Furthermore, the lifting mechanism includes a first lifting plate and a second lifting plate parallel to the square tube, and the first horizontal plate, the second horizontal plate and the third horizontal plate are connected in sequence between the first lifting plate and the second lifting plate, and the two ends of the first lifting plate and the second lifting plate are respectively provided with longitudinal plates extending outward, a first supporting column is provided on the first base plate, a first lifting cylinder is provided on the first supporting column, a piston rod of the first lifting cylinder is upwardly arranged and connected to the first lifting plate, a second supporting column is provided on the third base plate, a second lifting cylinder is provided on the second supporting column, the piston rod of the second lifting cylinder is upwardly arranged and connected to the second lifting plate, and a number of fixed pins are respectively provided on the first lifting plate, the second lifting plate, the second horizontal plate and the longitudinal plate, and the ends of the fixed pins are smooth hemispherical.

[0010] Furthermore, a first extension plate extending outward is provided on the first transverse plate, a first transverse cylinder is provided on the first extension plate, the piston rod of the first transverse cylinder faces the second transverse plate, and the end of the piston rod of the first transverse cylinder is connected to the first movable lifting plate, a second extension plate extending outward is provided on the third transverse plate, a second transverse cylinder is provided on the second extension plate, the piston rod of the second transverse cylinder faces the second transverse plate, and the end of the piston rod of the second transverse cylinder is connected to the second movable lifting plate, and movable ejectors are respectively provided at both ends of the first movable ejector plate and the second movable ejector plate, and the ends of the movable ejectors are smooth hemispherical.

[0011] Furthermore, the first centering mechanism includes a pair of first centering connecting plates arranged on the second base plate, the two first centering connecting plates are symmetrically arranged with the center line of the second base plate in the width direction as the axis, the second base plate is provided with a first centering motor at one end close to the driving bracket, the output end of the first centering motor is arranged toward the driven shaft, the output end of the first centering motor is connected to the first centering screw A, the end of the first centering screw A away from the first centering motor is connected to the first coupling, the end of the first coupling away from the first centering screw A is connected to the first centering screw B, the first The thread directions of the centering screw A and the first centering screw B are opposite. The second base plate is provided with a screw seat respectively cooperating with the first centering screw A and the first centering screw B. The first centering screw A and the first centering screw B are respectively provided with a first screw nut. The two first screw nuts are respectively connected to the bottom of the first centering connecting plate on both sides. The second base plate is provided with a first linear rail extending along its length direction. The bottom of the first centering connecting plate is provided with a first slider cooperating with the first linear rail. The two ends of the two first centering connecting plates are respectively provided with a first centering guide wheel A.

[0012] Furthermore, a pair of first centering lifting cylinders are provided in the middle of the first centering connecting plate, the piston rods of the first centering lifting cylinders are arranged upward, and the ends of the piston rods of the first centering lifting cylinders are provided with first centering guide wheels B.

[0013] Furthermore, a second pair of centering base plates B is connected between the first base plate and the second base plate, and the second centering mechanism includes a second centering connecting plate B arranged on the second pair of centering base plates B, a second centering motor is provided at one end of the second pair of centering base plates B away from the second base plate, the output end of the second centering motor is arranged toward the second base plate, and the output end of the second centering motor is connected to the second centering screw B, a screw seat for cooperating with the second centering screw B is provided on the second pair of centering base plates B, a second screw nut B is provided on the second centering screw B, and the second screw nut B is connected to the bottom of the second pair of centering connecting plates B, a second linear rail B extending along its length direction is provided on the second pair of centering base plates B, a second slider B cooperating with the second linear rail B is provided at the bottom of the second pair of centering connecting plates B, and second centering guide wheels B are provided at both ends of the second pair of centering connecting plates B.

[0014] Further, the second bottom plate and the third bottom plate are connected with a second centering bottom plate A, the second centering mechanism comprises a second centering connecting plate A arranged on the second centering bottom plate A, the second centering connecting plate A and the second centering connecting plate B are arranged in axial symmetry with the center line in the length direction of the second bottom plate as the axis, the end of the second centering lead screw B away from the second centering motor is connected with a second coupling, the end of the second coupling away from the second centering lead screw B is connected with a second centering lead screw A, the screw thread directions of the second centering lead screw A and the second centering lead screw B are opposite, the second centering bottom plate A is provided with a lead screw seat for cooperating with the second centering lead screw A, the second centering lead screw A is provided with a second lead screw nut A, the second lead screw nut A is connected to the bottom of the second centering connecting plate A, the second centering bottom plate A is provided with a second linear rail A extending along the length direction thereof, the bottom of the second centering connecting plate A is provided with a second sliding block A cooperating with the second linear rail A, and the two ends of the second centering connecting plate A are respectively provided with a pair of second centering lifting cylinders, the piston rods of the second centering lifting cylinders are arranged upward, and the end of the piston rod of the second centering lifting cylinder is provided with a second centering guide wheel A.

[0015] The glass substrate centering and conveying device can center and align different sizes of glass substrates before conveying, and does not need to stop and adjust the structure when the size of the glass substrate is changed, thereby greatly improving the production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0016] The application will be further described and illustrated with reference to the accompanying drawings.

[0017] Figure 1 It is a structure schematic view of a glass substrate centering and conveying device for placing different sizes of glass substrates according to the preferred embodiment of the application.

[0018] Figure 2 It is a structure schematic view of the whole glass substrate centering and conveying device.

[0019] Figure 3 It is a structure schematic view for embodying the conveying line.

[0020] Figure 4 It is a structure schematic view of the glass substrate centering and conveying device after removing the conveying line.

[0021] Figure 5 It is a structure schematic view for embodying the jacking mechanism.

[0022] Figure 6 It is a structure schematic view for embodying the first centering mechanism and the second centering mechanism.

[0023] Figure 7 It is a structure schematic view for embodying the first centering mechanism.

[0024] Figure 8is a structural schematic diagram for embodying the second centering mechanism.

[0025] Reference signs: 1, rack; 11, square tube; 12, first bottom plate; 13, second bottom plate; 14, third bottom plate; 15, first support column; 16, second support column; 2, handling robot; 3, conveying line; 31, driving support; 32, driven support; 33, driving motor; 34, driving main shaft; 35, driven main shaft; 36, transmission shaft; 37, driving shaft; 38, driven shaft; 39, roller; 4, jacking mechanism; 411, first jacking plate; 412, second jacking plate; 421, first cross plate; 422, second cross plate; 423, third cross plate; 43, longitudinal plate; 441, first jacking cylinder; 442, second jacking cylinder; 451, fixed jacking pin; 452, movable jacking pin; 461, first extension plate; 462, second extension plate; 471, first horizontal moving cylinder; 472, second horizontal moving cylinder; 481, first movable jacking plate; 482, second movable jacking plate; 5, first centering mechanism; 51, first centering connecting plate; 52, first centering motor; 531, first centering lead screw A; 532, first centering lead screw B; 533, first coupling; 54, first lead screw nut; 551, first linear rail; 552, first sliding block; 56, first centering lifting cylinder; 571, first centering guide wheel A; 572, first centering guide wheel B; 6, second centering mechanism; 611, second centering bottom plate A; 612, second centering bottom plate B; 621, second centering connecting plate A; 622, second centering connecting plate B; 63, second centering motor; 641, second centering lead screw A; 642, second centering lead screw B; 643, second coupling; 651, second lead screw nut A; 652, second lead screw nut B; 661, second linear rail A; 662, second linear rail B; 671, second sliding block A; 672, second sliding block B; 68, second centering lifting cylinder; 691, second centering guide wheel A; 692, second centering guide wheel B. DETAILED DESCRIPTION

[0026] The technical solutions of the present application will be described more clearly and completely by combining the drawings and the description of the preferred embodiments of the present application.

[0027] As shown in Figure 1 and Figure 2 , a glass substrate centering conveying device of the preferred embodiment of the present application comprises a rack 1, one side of the rack 1 is provided with a handling robot 2 for handling glass substrates of different sizes to the upper side of the rack 1, and the handling robot 2 adopts the prior art.

[0028] As shown in Figure 2 and Figure 3As shown, the rack 1 includes a pair of parallel square tubes 11, and a first bottom plate 12, a second bottom plate 13 and a third bottom plate 14 are connected between the two square tubes 11 in parallel. The top of the square tube 11 away from the handling robot 2 is provided with a driving support 31, and the top of the other square tube 11 is provided with a driven support 32. The rack 1 is provided with a conveying line 3 for conveying glass substrates, a lifting mechanism 4 for lifting the glass substrates to transfer them from the handling robot 2 to the conveying line 3, and a first centering mechanism 5 and a second centering mechanism 6 for aligning the center line of the glass substrates to the center line of the rack 1.

[0029] As shown in Figure 2 and Figure 3 , the conveying line 3 includes a driving motor 33 arranged at one end of the driving support 31, and the output end of the driving motor 33 is connected with a driving main shaft 34 parallel to the driving support 31. The driven support 32 is provided with a driven main shaft 35 parallel to the driving main shaft 34, and the conveying line 3 includes two transmission shafts 36 perpendicular to the driving main shaft 34, and the two ends of the transmission shaft 36 are connected to the driving main shaft 34 and the driven main shaft 35 through gear pairs. In addition, the conveying line 3 includes a plurality of driving shafts 37 and driven shafts 38, one end of the driving shaft 37 is connected to the driving main shaft 34 through a gear pair, and one end of the driven shaft 38 is connected to the driven main shaft 35 through a gear pair. The driving support 31 is provided with a bearing seat assembly for supporting the driving main shaft 34, and the driving support 31 is provided with a bearing seat assembly for supporting the transmission shaft 36 and the driving shaft 37. The driven support 32 is provided with a bearing seat assembly for supporting the transmission shaft 36 and the driven shaft 38, and the first bottom plate 12, the second bottom plate 13 and the third bottom plate 14 are respectively provided with bearing seat assemblies for supporting the transmission shaft 36, the driving shaft 37 and the driven shaft 38. Each shaft is supported by the bearing seat assembly and can rotate normally. The transmission shaft 36, the driving shaft 37 and the driven shaft 38 are respectively provided with a plurality of rollers 39. The driving motor 33 can drive the conveying shaft, the driving shaft 37 and the driven shaft 38 to rotate, so that the glass substrates are conveyed to the downstream equipment through the rollers 39.

[0030] As shown in Figure 4 and Figure 5As shown, the jacking mechanism 4 includes a first jacking plate 411 and a second jacking plate 412 parallel to the square tube 11, and a first cross plate 421, a second cross plate 422 and a third cross plate 423 connected in sequence between the first jacking plate 411 and the second jacking plate 412. The two ends of the first jacking plate 411 and the two ends of the second jacking plate 412 are respectively provided with outwardly extending longitudinal plates 43, the first bottom plate 12 is provided with a first support column 15, the first support column 15 is provided with a first jacking cylinder 441, the piston rod of the first jacking cylinder 441 is arranged upwardly and connected to the first jacking plate 411, the third bottom plate 14 is provided with a second support column 16, the second support column 16 is provided with a second jacking cylinder 442, the piston rod of the second jacking cylinder 442 is arranged upwardly and connected to the second jacking plate 412. The first jacking plate 411, the second jacking plate 412, the second cross plate 422 and the longitudinal plates 43 are respectively provided with a plurality of fixed jacking pins 451, the end of the fixed jacking pin 451 is a smooth hemispherical shape.

[0031] As shown in Figure 4 and Figure 5 The first cross plate 421 is provided with a first outward extension plate 461 extending outwardly, the first outward extension plate 461 is provided with a first horizontal moving cylinder 471, the piston rod of the first horizontal moving cylinder 471 is directed towards the second cross plate 422, and the end of the piston rod of the first horizontal moving cylinder 471 is connected to a first movable jacking plate 481. The third cross plate 423 is provided with a second outward extension plate 462 extending outwardly, the second outward extension plate 462 is provided with a second horizontal moving cylinder 472, the piston rod of the second horizontal moving cylinder 472 is directed towards the second cross plate 422, and the end of the piston rod of the second horizontal moving cylinder 472 is connected to a second movable jacking plate 482. The two ends of the first movable jacking plate 481 and the second movable jacking plate 482 are respectively provided with movable jacking pins 452, and the end of the movable jacking pin 452 is a smooth hemispherical shape.

[0032] When the robot carries the glass substrate, the jacking pin mechanism is jacked as a whole by the first jacking cylinder 441 and the second jacking cylinder 442, the glass substrate is contacted by the fixed jacking pins 451 and the movable jacking pins 452, and the glass substrate is placed on the conveying line 3 from the robot. The position of the movable jacking pin 452 is adjusted by the first horizontal moving cylinder 471 and the second horizontal moving cylinder 472 to correspond to different sizes of glass substrates. The end of the fixed jacking pin 451 and the glass jacking pin is a round head smooth surface, which has little contact with the surface of the glass substrate, only a temporary supporting effect, and the damage to the glass substrate is negligible,

[0033] As shown in Figure 6 and Figure 7As shown, the first centering mechanism 5 is mainly used for centering the glass substrate in the length direction of the rack 1, and the first centering mechanism 5 includes a pair of first centering connecting plates 51 arranged on the second bottom plate 13, and the two first centering connecting plates 51 are arranged symmetrically about the center line of the second bottom plate 13 in the width direction. The second bottom plate 13 is provided with a first centering motor 52 near one end of the driving bracket 31, and the output end of the first centering motor 52 is arranged towards the driven shaft 38, and the output end of the first centering motor 52 is connected with a first centering lead screw A 531, and one end of the first centering lead screw A 531 away from the first centering motor 52 is connected with a first coupling 533, and one end of the first coupling 533 away from the first centering lead screw A 531 is connected with a first centering lead screw B 532, and the screw directions of the first centering lead screw A 531 and the first centering lead screw B 532 are opposite. The second bottom plate 13 is provided with a lead screw seat matched with the first centering lead screw A 531 and the first centering lead screw B 532 respectively, and the first centering lead screw A 531 and the first centering lead screw B 532 are respectively provided with a first lead screw nut 54, and the two first lead screw nuts 54 are respectively connected to the bottom of the two first centering connecting plates 51. The second bottom plate 13 is provided with a first linear rail 551 extending in the length direction thereof, and the bottom of the first centering connecting plate 51 is provided with a first sliding block 552 matched with the first linear rail 551, and the two ends of the two first centering connecting plates 51 are respectively provided with a first centering guide wheel A 571. The middle part of the first centering connecting plate 51 is provided with a pair of first centering lifting cylinders 56, the piston rod of the first centering lifting cylinder 56 is arranged upwards, and the end of the piston rod of the first centering lifting cylinder 56 is provided with a first centering guide wheel B 572.

[0034] The first centering motor 52 drives the two first centering connecting plates 51 to move in the length direction of the rack 1, aligns the first centering guide wheel A with the edge of the glass substrate, and the two first centering guide wheels A jointly push the glass substrate to the middle position of the rack 1 for next conveying. The first centering guide wheel B is located outside the first centering guide wheel A, and will not contact the glass substrate when the first centering guide wheel B is not raised. When the width of the glass substrate to be centered is less than the minimum distance between the two first centering guide wheels A, the first centering guide wheel B is first raised, and the two first centering guide wheels B are used for centering operation.

[0035] As Figure 6 and Figure 8As shown, a second pair of centering plates A611 is connected between the second bottom plate 13 and the third bottom plate 14, and a second pair of centering plates B612 is connected between the first bottom plate 12 and the second bottom plate 13. The second centering mechanism 6 includes a second pair of centering connecting plates A621 arranged on the second pair of centering plates A611 and a second pair of centering connecting plates B622 arranged on the second pair of centering plates B612. The second pair of centering connecting plates A621 and the second pair of centering connecting plates B622 are symmetrically arranged with the center line of the length direction of the second bottom plate 13 as the axis. A second centering motor 63 is provided at the end of the second centering base plate B612 away from the second base plate 13. The output end of the second centering motor 63 is positioned toward the second base plate 13. The output end of the second centering motor 63 is connected to a second centering lead screw B642. A second coupling 643 is connected to the end of the second centering lead screw B642 away from the second centering motor 63. The end of the second coupling 643 away from the second centering lead screw B642 is connected to a second centering lead screw A641. The thread directions of the second centering lead screw A641 and the second centering lead screw B642 are opposite. A lead screw seat for mating with the second centering lead screw A641 is provided on the second centering base plate A611, and a lead screw seat for mating with the second centering lead screw B642 is provided on the second centering base plate B612.

[0036] like Figure 6 and Figure 8 As shown, the second pair of centering screws A641 is provided with a second screw nut A651, which is connected to the bottom of the second pair of centering connecting plates A621. The second pair of centering screws B642 is provided with a second screw nut B652, which is connected to the bottom of the second pair of centering connecting plates B622. The second pair of centering base plates A611 is provided with a second linear rail A661 extending along its length, and the bottom of the second pair of centering connecting plates A621 is provided with a second slider A671 that cooperates with the second linear rail A661. The second pair of centering base plates B612 is provided with a second linear rail B662 extending along its length, and the bottom of the second pair of centering connecting plates B622 is provided with a second slider B672 that cooperates with the second linear rail B662. A pair of second centering lift cylinders 68 are installed at each end of the second centering connecting plate A621. The piston rods of the second centering lift cylinders 68 are positioned upward, and second centering guide wheels A691 are installed at the ends of the piston rods of the second centering lift cylinders 68. Second centering guide wheels B692 are installed at each end of the second centering connecting plate B622.

[0037] The second centering motor 63 drives the second centering connecting plate A 621 and the second centering connecting plate B 622 on both sides to move along the width direction of the rack 1, aligns the second centering guide wheel B with the edge of the glass substrate, and when the two second centering guide wheels A jointly push the glass substrate to the middle position of the rack 1, the edge of the glass substrate can be kept parallel to the length direction of the rack 1 to avoid the glass substrate from being skewed. The second centering guide wheel B does not contact the glass substrate when it is not raised, and when the position of the glass substrate is deviated to the side of the second centering guide wheel B, the second centering guide wheel B is raised to assist the centering operation.

[0038] Specific implementation process: after the glass substrate is carried by the carrying robot 2 to above the rack 1, the first lifting cylinder 441 and the second lifting cylinder 442 fix the lifting pin 451 to be lifted, or when the size of the glass substrate is small, the position of the movable lifting pin 452 is adjusted by the first horizontal moving cylinder 471 and the second horizontal moving cylinder 472 until the movable lifting pin 452 moves below the edge of the glass. The glass substrate is taken from the carrying robot 2 by the lifting mechanism 4, and after the carrying robot 2 is withdrawn, the first lifting cylinder 441 and the second lifting cylinder 442 are lowered to place the glass substrate on the rollers 39. The first centering motor 52 drives the first centering connecting plate 51 on both sides to move along the length direction of the rack 1, aligns the first centering guide wheel A with the edge of the glass substrate, aligns the second centering guide wheel B with the edge of the glass substrate, and when the two second centering guide wheels A jointly push the glass substrate to the middle position of the rack 1, the centering is realized. For a small size glass substrate, the first centering guide wheel B is raised to align with the edge of the glass substrate, and the second centering guide wheel A is raised to align with the edge of the glass to realize the centering. After the centering is completed, the lead screws and the cylinders return to the original position, and the driving motor 33 drives the rollers 39 to rotate to convey the glass substrate to the downstream equipment.

[0039] The glass substrate centering conveying device of the present application can center and align glass substrates of different sizes before conveying, and when the size of the glass substrate is changed, the machine does not need to be stopped for structural adjustment, which greatly improves the production efficiency.

[0040] The above specific embodiments only describe the preferred embodiments of the present application, and do not limit the protection scope of the present application. Any modification, substitution and improvement of the technical solutions of the present application made by those skilled in the art according to the description and drawings of the present application without departing from the design concept and spirit of the present application shall belong to the protection scope of the present application. The protection scope of the present application is determined by the claims.

Claims

1. A glass substrate centering transport apparatus, characterized by, The utility model provides a glass substrate conveying device, including frame (1), one side of frame (1) is equipped with the handling robot (2) for carrying different size glass substrate to the frame (1) top, be equipped with the conveying line (3) for conveying glass substrate on frame (1), be equipped with the jacking mechanism (4) for jacking glass substrate and transferring it from handling robot (2) to conveying line (3) on frame (1), be equipped with the first centering mechanism (5) and the second centering mechanism (6) for aligning the center line of glass substrate to the center line of frame (1) on frame (1), The frame (1) includes a pair of parallel square tubes (11), and first, second and third bottom plates (12, 13 and 14) are connected between the two square tubes (11) in parallel; The jacking mechanism (4) includes first and second jacking plates (411 and 412) parallel to the square tubes (11), and first, second and third cross plates (421, 422 and 423) are sequentially connected between the first and second jacking plates (411 and 412), and longitudinal plates (43) extending outward are arranged at both ends of the first and second jacking plates (411 and 412), respectively, a first support column (15) is arranged on the first bottom plate (12), a first jacking cylinder (441) is arranged on the first support column (15), a piston rod of the first jacking cylinder (441) is arranged upward and connected to the first jacking plate (411), a second support column (16) is arranged on the third bottom plate (14), a second jacking cylinder (442) is arranged on the second support column (16), a piston rod of the second jacking cylinder (442) is arranged upward and connected to the second jacking plate (412), and a plurality of fixed jacking pins (451) are arranged on the first and second jacking plates (411 and 412), the second cross plate (422) and the longitudinal plates (43), respectively, and the end of each fixed jacking pin (451) is a smooth hemisphere. A first extension plate (461) extending outward is arranged on the first cross plate (421), a first horizontal movement cylinder (471) is arranged on the first extension plate (461), a piston rod of the first horizontal movement cylinder (471) faces the second cross plate (422), a first movable jacking plate (481) is connected to the end of the piston rod of the first horizontal movement cylinder (471), a second extension plate (462) extending outward is arranged on the third cross plate (423), a second horizontal movement cylinder (472) is arranged on the second extension plate (462), a piston rod of the second horizontal movement cylinder (472) faces the second cross plate (422), and a second movable jacking plate (482) is connected to the end of the piston rod of the second horizontal movement cylinder (472), movable jacking pins (452) are arranged at both ends of the first and second movable jacking plates (481 and 482), respectively, and the end of each movable jacking pin (452) is a smooth hemisphere.

2. A glass substrate centering conveyor as defined in claim 1, wherein, The top of the square tube (11) away from the transfer robot (2) side is provided with a drive bracket (31), the other side of the square tube (11) top is provided with a driven bracket (32), the transmission line (3) includes a drive motor (33) arranged at one end of the drive bracket (31), the output end of the drive motor (33) is connected with a drive spindle (34), the drive spindle (34) is parallel to the drive bracket (31), the driven bracket (32) is provided with a driven spindle (35) parallel to the drive spindle (34), the transmission line (3) includes a plurality of transmission shafts (36), the transmission shaft (36) is perpendicular to the drive spindle (34), both ends of the transmission shaft (36) are connected on the drive spindle (34) and the driven spindle (35) through gear pairs, the transmission shaft (36) is provided with a plurality of rollers (39).

3. A glass substrate centering conveyor as defined in claim 2, wherein, The transmission line (3) includes a plurality of drive shafts (37), one end of the drive shaft (37) is connected on the drive spindle (34) through a gear pair, the transmission line (3) includes a plurality of driven shafts (38), one end of the driven shaft (38) is connected on the driven spindle (35) through a gear pair, the drive shaft (37) and the driven shaft (38) are respectively provided with a plurality of rollers (39).

4. The glass substrate centering conveyor of claim 3, wherein, The drive bracket (31) is provided with a bearing seat assembly for supporting the drive spindle (34), the drive bracket (31) is provided with a bearing seat assembly for supporting the transmission shaft (36) and the drive shaft (37), the driven bracket (32) is provided with a bearing seat assembly for supporting the transmission shaft (36) and the driven shaft (38), the first bottom plate (12), the second bottom plate (13) and the third bottom plate (14) are respectively provided with a bearing seat assembly for supporting the transmission shaft (36), the drive shaft (37) and the driven shaft (38).

5. The glass substrate centering conveyor of claim 2, wherein, The first centering mechanism (5) comprises a pair of first centering connecting plates (51) arranged on the second bottom plate (13), the two first centering connecting plates (51) are arranged symmetrically about the center line in the width direction of the second bottom plate (13), the second bottom plate (13) is provided with a first centering motor (52) near one end of the driving support (31), the output end of the first centering motor (52) is arranged towards the driven shaft (38), the output end of the first centering motor (52) is connected with a first centering lead screw A (531), one end of the first centering lead screw A (531) away from the first centering motor (52) is connected with a first coupling (533), one end of the first coupling (533) away from the first centering lead screw A (531) is connected with a first centering lead screw B (532), the screw directions of the first centering lead screw A (531) and the first centering lead screw B (532) are opposite, the second bottom plate (13) is provided with lead screw seats matched with the first centering lead screw A (531) and the first centering lead screw B (532) respectively, the first centering lead screw A (531) and the first centering lead screw B (532) are respectively provided with first lead screw nuts (54), the two first lead screw nuts (54) are respectively connected to the bottoms of the two first centering connecting plates (51), the second bottom plate (13) is provided with a first linear rail (551) extending along the length direction thereof, the bottom of the first centering connecting plate (51) is provided with a first sliding block (552) matched with the first linear rail (551), and the two ends of the two first centering connecting plates (51) are respectively provided with first centering guide wheels A (571).

6. A glass substrate centering conveyor as defined in claim 5, wherein, The middle part of the first centering connecting plate (51) is provided with a pair of first centering lifting cylinders (56), the piston rod of the first centering lifting cylinder (56) is arranged upwards, and the end of the piston rod of the first centering lifting cylinder (56) is provided with a first centering guide wheel B (572).

7. The glass substrate centering conveyor of claim 2, wherein, The second centering bottom plate B (612) is provided with a second centering motor (63) at one end away from the second bottom plate (13), and an output end of the second centering motor (63) is arranged towards the second bottom plate (13); the second centering motor (63) is connected with a second centering lead screw B (642); the second centering bottom plate B (612) is provided with a lead screw seat for cooperating with the second centering lead screw B (642); the second centering lead screw B (642) is provided with a second lead screw nut B (652); the second lead screw nut B (652) is connected to the bottom of the second centering connecting plate B (622); the second centering bottom plate B (612) is provided with a second linear rail B (662) extending along the length direction thereof; the bottom of the second centering connecting plate B (622) is provided with a second sliding block B (672) cooperating with the second linear rail B (662); and the two ends of the second centering connecting plate B (622) are respectively provided with second centering guide wheels B (692).

8. The glass substrate centering conveyor of claim 7, wherein, The second centering bottom plate A (611) is connected between the second bottom plate (13) and the third bottom plate (14); the second centering mechanism (6) comprises a second centering connecting plate A (621) arranged on the second centering bottom plate A (611); the second centering connecting plate A (621) is arranged symmetrically with the second centering connecting plate B (622) with a center line in the length direction of the second bottom plate (13) as the axis; one end of the second centering lead screw B (642) away from the second centering motor (63) is connected with a second coupling (643); one end of the second coupling (643) away from the second centering lead screw B (642) is connected with a second centering lead screw A (641); the second centering lead screw A (641) is opposite to the second centering lead screw B (642) in the screw thread direction; the second centering bottom plate A (611) is provided with a lead screw seat for cooperating with the second centering lead screw A (641); the second centering lead screw A (641) is provided with a second lead screw nut A (651); the second lead screw nut A (651) is connected to the bottom of the second centering connecting plate A (621); the second centering bottom plate A (611) is provided with a second linear rail A (661) extending along the length direction thereof; the bottom of the second centering connecting plate A (621) is provided with a second sliding block A (671) cooperating with the second linear rail A (661); the two ends of the second centering connecting plate A (621) are respectively provided with a pair of second centering lifting cylinders (68); the piston rod of the second centering lifting cylinder (68) is arranged upwards; and the piston rod end of the second centering lifting cylinder (68) is provided with a second centering guide wheel A (691).

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