A large glass sheet loading device and method

Abstract

The application provides a large glass sheet loading device and a loading method, which comprise a moving trolley, a turnover arm, a servo motor, a first rocker, a second rocker, a suction cup rack and a suction cup assembly. The turnover arm is rotationally connected to the moving trolley. The bottom of the turnover arm is rotationally connected to the first rocker through the servo motor. The top of the turnover arm is rotationally connected to the second rocker. The free ends of the first rocker and the second rocker are rotationally connected to the suction cup rack. The length of the first rocker is greater than that of the second rocker. A plurality of suction cup assemblies are sequentially and spacedly arranged on the suction cup rack from top to bottom. The pre-tightening lengths of the suction cup assemblies are gradually shortened from top to bottom. A four-bar linkage mechanism is formed among the suction cup rack, the first rocker, the second rocker and the turnover arm. Through the change of the pre-tightening lengths of the suction cup assemblies, the four-bar linkage mechanism and the servo motor, and through the unique loading process, the application can prevent the glass sheet from being easily scratched during loading. Through the precise control of the servo motor, the application can ensure the stable loading of the glass sheet.

Description

Technical Field

[0001] This invention relates to the field of glass production technology, specifically to a large-sheet glass loading device and loading method. Background Technology

[0002] The glass feeding area of ​​the deep-processed glass sheet production line adopts a vertical sheet loading method, which is suitable for direct loading of glass stacks placed at 85°. The operation is simple and the glass is less likely to break during the loading process. It has basically replaced manual labor in the field of deep glass processing, especially for loading large sheets.

[0003] The basic principle of the glass loading machine currently used in this field is as follows: In the loading area, the glass stack has been transferred to the fixed position of the loading frame turntable. The suction cup frame moves horizontally in a straight line and rotates 95° at the same time to pick up a single piece of glass. The position is obtained by the contact of the induction switch with the glass surface. The picking is achieved by the continuous contraction and rolling action of the four-bar linkage mechanism directly connected to the suction cup rod to break the so-called vacuum phenomenon between the glass stack pieces. Then, the suction cup frame is rotated and moved horizontally to the loading conveyor platform, and the four-bar linkage mechanism contracts continuously again to release the glass.

[0004] Let's analyze the methods used in the entire film loading process:

[0005] 1. When glass slides are peeled from the glass stack, because there is only a thin layer of separating powder (or anti-mildew separating powder) between the slides, the gap between the slides is extremely small when placed vertically at 85°. When the outermost glass slide is pulled apart vertically, a so-called vacuum phenomenon is created. Only by pulling apart the bottom side of the slide first can the adjacent glass slides be prevented from being affected and shaking or even being pulled apart and broken. This method is called "slide rolling". It is now a mature and common method and adopts a four-bar linkage structure with two rockers. The two rockers have four fulcrums to connect the suction cup arm and the flipping arm. The suction cup arm has suction cup rods and suction cups evenly distributed on it. The active rod of the two rockers rotates to complete the continuous contraction action, which allows the suction cup arm to roll the slide and break the vacuum. Then, the flipping arm flips the slide, and the suction process is completed.

[0006] 2. During the final placement process, the springs on the suction cup rods of the suction cup frame begin to compress. After the suction cup frame flips into place, the glass sheet is basically horizontal. At this time, the vertical suction cup rods can lift the glass sheet onto the platform, ensuring stable placement and controllable position. When the glass sheet reaches above the upper conveyor platform or is coplanar with the platform, the glass is placed, and the suction cup changes from suction to blowing. At this time, the glass sheet changes from being integrated with the suction cup frame to being free, thus completing the final placement process. At this time, the four-bar linkage retracts continuously again (it has been opened during the flipping process) to move the suction cup frame below the platform to detach from the glass sheet.

[0007] The problems with the above process are:

[0008] During the rolling process, the retraction of the four-bar linkage cannot be precisely controlled. Structurally, cylinders or motors are used. The main issue is that the control is that the tilting arm only starts to tilt after the retraction is complete. During the retraction process, the bottom and top act almost simultaneously. The bottom opens up the distance first, and the vacuum is broken from the bottom upwards. While the top is still under vacuum, the glass sheet moves upwards in relative sliding. The isolation powder acts as a lubricant, preventing scratches. However, as the four-bar linkage continues to retract, the distance between the bottom and top increases, and the glass sheet moves upwards significantly, resulting in an excessively large angle between the glass sheet and adjacent sheets. At this point, the vacuum has been broken at the top, and the angle between the sheets during the just-to-disengagement period makes it very easy for edge friction to occur. The upper part of the glass sheet is easily scratched, and the scratches are off-center from the top edge of the glass sheet, making them impossible to remove in subsequent deep processing.

[0009] During the glass sheet placement process, when the glass sheet is small in size and light in weight, the glass sheet will not compress the spring to its limit. Therefore, as long as the suction cup surface is still above the platform, the glass sheet can be placed smoothly on the platform before the four-bar linkage retracts. However, when the glass sheet is too heavy, the spring is close to its limit compression, and the suction cup rod is in a near-rigid state. The glass sheet is placed when the suction cup frame flips into place and is in a free state. The speed control of the glass sheet requires the four-bar linkage to coordinate with the retraction speed. If the retraction speed cannot be precisely controlled, the glass sheet placement speed will be uncontrollable and it will not be able to reach the platform smoothly.

[0010] Current film loading methods are based on small or medium-sized films and are not entirely suitable for large films. They can easily cause scratches and prevent the film from being loaded smoothly when loading large films. Summary of the Invention

[0011] The technical problem to be solved by the present invention is to provide a large glass loading device and loading method suitable for large sheets, so that large sheets are not easily scratched and can be placed stably.

[0012] The present invention solves the above-mentioned technical problems through the following technical means:

[0013] A large glass loading device includes a mobile trolley (1), a flipping arm (2), a servo motor (3), a first rocker arm (4), a second rocker arm (5), a suction cup frame (6), and suction cup assemblies (7). The mobile trolley (1) is rotatably connected to the flipping arm (2). The bottom of the flipping arm (2) is rotatably connected to the first rocker arm (4) via the servo motor (3). The top of the flipping arm (2) is rotatably connected to the second rocker arm (5). The free ends of the first rocker arm (4) and the second rocker arm (5) are rotatably connected to the suction cup frame (6). The length of the first rocker arm (4) is greater than the length of the second rocker arm (5). Multiple suction cup assemblies (7) are arranged sequentially from top to bottom on the suction cup frame (6). The pre-tension length of the suction cup assembly (7) is gradually shortened from top to bottom. The suction cup frame (6), the first rocker arm (4), the second rocker arm (5), and the flipping arm (2) form a four-bar linkage.

[0014] Beneficial effects: By gradually shortening the pre-tightening length of the suction cup assembly from top to bottom, and by using a four-bar linkage and servo motor, it is possible to prevent scratches during film loading; the servo motor ensures smooth film loading.

[0015] Furthermore, the suction cup assembly (7) includes a suction cup rod (71), a suction cup (72), and a spring (73). The suction cup rod (71) is fixed on the suction cup frame (6), and the free end of the suction cup rod (71) is fixed with a suction cup (72). A spring (73) is sleeved on the suction cup rod (71) between the suction cup (72) and the suction cup frame (6). The preload length of each spring (73) is gradually shortened from top to bottom.

[0016] Furthermore, it also includes a sensing device (8), which is fixed on the suction cup holder (6). The input end of the sensing device (8) is located near the glass stack, and the output end of the sensing device (8) is electrically connected to the control system. The suction cup assembly (7) is electrically connected to the control system.

[0017] Beneficial effects: By setting up the sensing device and control system, when the sensing device comes into contact with the glass stack, it can automatically control the suction cup assembly to delay the vacuuming process.

[0018] Furthermore, the servo motor (3) is electrically connected to the control system.

[0019] Beneficial effects: By setting up servo motors, the speed and position of the four-bar linkage can be controlled arbitrarily, thereby ensuring that large films are not easily scratched and can be placed smoothly.

[0020] The present invention also discloses a method for loading large glass sheets using the large glass loading device described in any of the above technical solutions, comprising the following steps:

[0021] After the suction cup frame (6) is flipped to the confirmed position, S1 moves the suction cup frame (6) horizontally towards the glass stack (9). At the same time, the first rocker arm (4) expands according to the actual working conditions so that the suction cup surface of the entire suction cup (72) can contact the outer edge of the glass stack (9) synchronously. Then, the suction cup assembly (7) is activated to draw a vacuum and suck up the glass sheet on the outer edge of the glass stack (9). The suction cup assembly (7) has radial force and axial force to pull up the glass sheet.

[0022] The S2 four-bar linkage starts to retract via the servo motor (3), and the suction cup assembly (7) begins to change from the compressed state to the stretched state. Since the pre-tightening position distance of the bottom suction cup assembly (7) is relatively short and the first rocker arm (4) is relatively long, the bottom movement distance is relatively long when the four-bar linkage performs the retraction action, so that the bottom suction cup assembly (7) reaches the pre-tightening position first, and the axial force of the suction cup assembly (7) takes effect first. Under the action of the axial force, the suction cup assembly (7) pulls out the glass sheet, while the radial force ensures that it is greater than the weight of the glass sheet to lift the glass sheet. The outer glass sheet is pulled out to break the vacuum between the glass sheets. At this time, the top suction cup assembly (7) gradually reaches the pre-tightening position, and the entire glass sheet is pulled out, completing the rolling action.

[0023] After the S3 glass sheet is pulled out, the four-bar linkage controlled by the servo motor (3) stops the retraction action in time and starts to rotate the suction cup frame (6) driven by the flipping arm (2). After the suction cup frame (6) moves to a certain angle, the four-bar linkage begins to retract gradually, and the glass sheet is pulled out of the stacking platform (10) smoothly.

[0024] When the S4 suction cup holder (6) flips back to its initial position via the flipping arm (2), it starts to release the glass sheet. Parallel to the conveying platform (11), it releases the vacuum in the suction cup assembly (7), and the glass sheet becomes free. The spring (73) in the suction cup assembly (7) has been compressed to near its limit beforehand and relies on the suction cup holder (71) in the suction cup assembly (7) to support the glass sheet. At this time, the flipping action ends.

[0025] The S5 four-bar linkage uses a servo motor (3) to precisely control the descent speed of the glass sheet and gradually retract it to ensure that the glass sheet can still make stable contact with the suction cup (72) in the suction cup assembly (7) when it is in a free state. The glass sheet descends smoothly and terminates after touching the conveying platform (11).

[0026] The S6 four-bar linkage continues to retract to its limit position, ensuring that the suction cup surface of the suction cup (72) is lower than the conveying platform (11).

[0027] Beneficial effects: With the S1-S3 process settings, the upper part of the glass sheet can quickly move away from the glass stack when the suction cup frame flips, and the glass sheet and the glass stack are less likely to form an angle. Therefore, even if the glass sheet is lifted, the upper part can be kept parallel to the outer edge of the glass stack and is less likely to be scratched. With the S4-S6 process settings, the glass sheet can be precisely controlled to smoothly reach the conveyor platform, ensuring smooth sheet placement.

[0028] Furthermore, the expansion angle in S1 is between 0.5° and 1.5°.

[0029] Beneficial effect: By setting the expansion angle, it can be ensured that the suction cup surface of the entire suction cup synchronously contacts the outer edge of the glass stack in the initial state.

[0030] Furthermore, the preload position of the bottom spring (73) in S2 is 2-3 mm shorter than the preload position of the top spring (73).

[0031] Furthermore, during the rolling process in S2, the four-bar linkage returns to the 0° position in the expanded state and then contracts by 1°-2°. The servo motor (3) controls the four-bar linkage to stop the contraction action in time.

[0032] Beneficial effects: By setting the pre-tightening position and the expansion process of the four-bar linkage, the angle between the glass sheet to be pulled and the outer edge of the glass stack can be minimized, so that they are approximately parallel and less likely to be scratched during the rolling process.

[0033] Furthermore, in S4, the moving trolley (1) moves toward the side away from the glass stack (9).

[0034] Furthermore, a sensing device (8) is fixed on the suction cup frame (6). In S1, when the sensing device (8) touches the glass stack (9), the suction cup frame (6) continues to move horizontally by the moving trolley (1) at a distance slightly greater than the depth of the suction cup (72). Then, the suction cup assembly (7) is started to draw a vacuum. Each suction cup (72) contracts synchronously. After reaching the predetermined negative pressure, the suction cup lip is compressed to the bottom of the suction cup bowl to suck the glass sheet on the outer edge of the glass stack (9).

[0035] The advantages of this invention are:

[0036] The present invention, through the gradual shortening of the pre-tightening length of the suction cup assembly from top to bottom, the setting of the four-bar linkage mechanism and the servo motor, can ensure that the film is not easily scratched during loading; the setting of the servo motor can ensure smooth film loading.

[0037] This invention, through the setting of a sensing device and a control system, can automatically control the suction cup assembly to delay vacuuming when the sensing device comes into contact with the glass stack.

[0038] This invention, through the setting of a servo motor, makes the speed and position of the four-bar linkage controllable, thereby ensuring that large films are not easily scratched and can be placed smoothly.

[0039] The present invention, through the setting of processes S1-S3, ensures that the upper part of the glass sheet can quickly move away from the glass stack when the suction cup frame flips, and the glass sheet and the glass stack are less likely to form an angle. Therefore, even if the glass sheet is pulled up, the upper part can be kept approximately parallel to the outer edge of the glass stack, and is not easily scratched. Through the setting of processes S4-S6, the glass sheet can be precisely controlled to smoothly reach the conveying platform, ensuring smooth placement of the sheet.

[0040] By setting the expansion angle, this invention ensures that the entire suction cup surface synchronously contacts the outer edge of the glass stack in the initial state.

[0041] By setting the pre-tightening position and the contraction and expansion process of the four-bar linkage, this invention can minimize the angle between the glass sheet to be pulled and the outer edge of the glass stack, making them approximately parallel and less prone to scratches during the rolling process. Attached Figure Description

[0042] Figure 1 This is a diagram illustrating the working process of a large glass loading device according to an embodiment of the present invention;

[0043] Figure 2 This is a diagram showing the working state of a large glass loading device according to an embodiment of the present invention;

[0044] Figure 3 This is a diagram showing the initial glass loading operation of a large-sheet glass loading device according to an embodiment of the present invention;

[0045] Figure 4 This is a diagram showing the final glass loading operation state of a large-sheet glass loading device according to an embodiment of the present invention. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] Example 1

[0048] like Figure 1 As shown, this embodiment provides a large glass loading device, including a moving trolley 1, a flipping arm 2, a servo motor 3, a first rocker arm 4, a second rocker arm 5, a suction cup frame 6, a suction cup assembly 7, and a sensing device 8.

[0049] like Figure 1 As shown, a tilting arm 2 is rotatably connected to the mobile trolley 1. A first rocker arm 4 is rotatably connected to the bottom of the tilting arm 2 via a servo motor 3, and a second rocker arm 5 is rotatably connected to the top of the tilting arm 2. The free ends of the first rocker arm 4 and the second rocker arm 5 are rotatably connected to a suction cup frame 6. The length of the first rocker arm 4 is greater than the length of the second rocker arm 5. Multiple suction cup assemblies 7 are fixedly fixed at intervals from top to bottom on the suction cup frame 6. In this embodiment, four suction cup assemblies 7 are fixedly fixed at intervals from top to bottom on the suction cup frame 6. Each suction cup assembly 7 includes a suction cup rod 71, a suction cup 72, and a spring 73. The suction cup rod 71 is fixed on the suction cup frame 6. The free end of the suction cup rod 71 is fixed with a suction cup 72. A spring 73 is sleeved on the suction cup rod 71 between the suction cup 72 and the suction cup frame 6. The preload length of each spring 73 is gradually shortened from top to bottom. A sensing device 8 is fixed on the suction cup frame 6. The input end of the sensing device 8 is set close to the glass stack and parallel to the surface of the suction cup 72. The output end of the sensing device 8, the suction cup rod 71, and the servo motor 3 are all electrically connected to the control system (not shown in the figure). The suction cup frame 6, the first rocker arm 4, the second rocker arm 5, and the flipping arm 2 form a four-bar linkage mechanism.

[0050] A method for mounting large sheets of glass includes the following steps:

[0051] like Figure 2As shown, after the suction cup frame 6 rotates 95° to reach the confirmed position, it moves horizontally towards the glass stack 9 (composed of multiple stacked glass sheets). Simultaneously, the first rocker arm 4 performs a slight expansion motion; in this embodiment, the expansion angle is approximately 1°, ensuring that the entire suction cup surface of the suction cup 72 synchronously contacts the outer edge of the glass stack 9. When the sensing device 8 touches the glass stack 9, it transmits a signal to the control system. At this point, the trolley 1 continues to move the suction cup frame 6 horizontally, a distance slightly greater than the depth of the suction cup 72. The control system then initiates the vacuuming of the suction cup assembly 7. The suction cup 72 retracts synchronously, and after reaching the predetermined negative pressure, the suction cup lip is compressed to the bottom of the suction cup bowl. The suction cup rod 71 has radial and axial forces to pull up the glass sheet. At this time, the four-bar linkage mechanism starts to retract via the servo motor 3, and the spring 73 begins to change from the compressed state to the stretched state. Because the distance between the bottom suction cup 72 and the pre-tightened position of the spring 73 is relatively short (the pre-tightened position of the bottom spring 73 is 2-3mm shorter than the pre-tightened position of the top spring 73), and the first rocker arm 4 is relatively long, the bottom movement distance is relatively long when the four-bar linkage mechanism performs the retraction action, causing the bottom spring 73 to reach the top first. In the pre-tightened position, the axial force of the suction cup rod 71 is applied first, pulling out the glass sheet under the action of the axial force. At the same time, the radial force is ensured to be greater than the weight of the glass sheet (design guarantee) to lift the glass sheet. Pulling out the glass sheet breaks the vacuum between the glass sheets. At this time, the top spring 73 gradually reaches the pre-tightened position, and the entire glass sheet is pulled out, completing the sheet rolling action. After the glass sheet is pulled out, the servo motor 3 precisely controls the four-bar linkage to stop the retraction action in time, and the rotating arm 2 drives the suction cup frame 6 to rotate. After the suction cup frame 6 moves to a certain angle, the four-bar linkage begins to gradually rotate. The glass sheet is pulled out smoothly from the bottom area of ​​the stacking platform 10 by the step-by-step retraction mechanism. In this embodiment, during the sheet rolling process, the four-bar linkage expands back to the 0° position and then retracts by about 1-2°. The servo motor 3 controls the four-bar linkage mechanism to stop the retraction action in time, so as to minimize the angle between the glass sheet to be pulled and the outer edge of the glass stack 9, and achieve an approximately parallel state. Because the upper part of the glass sheet can quickly move away from the glass stack 9 when the suction cup frame 6 flips, it is not easy for an angle to be formed between the glass sheet and the glass stack 9. Therefore, even if the glass sheet is lifted, the upper part can be kept parallel to the outer edge of the glass stack 9 and is not easily scratched.

[0052] like Figure 3As shown, when the suction cup frame 6 is flipped back to its initial position by the flipping arm 2, the moving trolley 1 moves towards the side away from the glass stack 9, and the terminal glass release is started. Before paralleling the conveying platform 11, the vacuum in the suction cup assembly 7 is released, and the glass sheet is in a free state. The spring 73, which has been compressed to near its limit, supports the glass sheet by the suction cup frame 71. At this time, the flipping action ends, and the four-bar linkage is controlled by the servo motor 3 to gradually retract following the descent speed of the glass sheet to ensure that the glass sheet can still make stable contact with the entire suction cup 72 in the free state. The glass sheet descends smoothly and stops after touching the conveying platform 11. At this time, the speed of the four-bar linkage is approximately 0, and the position is guaranteed. At the initial position of glass release, the suction cup assembly formed by each suction cup 72 is parallel to the conveying platform 11 and a certain distance above the platform. This distance ensures that after the flipping action stops and the four-bar linkage is fully retracted, the entire suction cup frame 6 is lower than the conveying platform 11. At the suction position, the suction cup frame is flipped 95° and the suction cup assembly is at 95°. Through the above settings, the glass sheet can be accurately controlled to smoothly touch the conveying platform 11.

[0053] like Figure 4 As shown, the four-bar linkage continues to retract to its limit position, ensuring that the suction cup surface of the suction cup 72 is lower than the conveying platform 11.

[0054] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A device for loading large sheets of glass, characterized in that, Includes a mobile trolley (1), a flipping arm (2), a servo motor (3), a first rocker arm (4), a second rocker arm (5), a suction cup holder (6), and a suction cup assembly (7); The mobile trolley (1) is rotatably connected to a flip arm (2). The bottom of the flip arm (2) is rotatably connected to a first rocker arm (4) via a servo motor (3). The top of the flip arm (2) is rotatably connected to a second rocker arm (5). The free ends of the first rocker arm (4) and the second rocker arm (5) are rotatably connected to a suction cup frame (6). The length of the first rocker arm (4) is greater than the length of the second rocker arm (5). Multiple suction cup assemblies (7) are arranged at intervals from top to bottom on the suction cup frame (6). Each suction cup assembly (7) includes a spring (73). The preload length of each spring (73) is gradually shortened from top to bottom. A four-bar linkage is formed between the suction cup frame (6), the first rocker arm (4), the second rocker arm (5), and the flip arm (2).

2. The large glass loading device according to claim 1, characterized in that: The suction cup assembly (7) includes a suction cup rod (71) and a suction cup (72). The suction cup rod (71) is fixed on the suction cup frame (6). The free end of the suction cup rod (71) is fixed with a suction cup (72). A spring (73) is sleeved on the suction cup rod (71) between the suction cup (72) and the suction cup frame (6). The preload length of each spring (73) is gradually shortened from top to bottom.

3. The large glass loading device according to claim 1, characterized in that: It also includes a sensing device (8), which is fixed on the suction cup frame (6). The input end of the sensing device (8) is located near the glass stack, and the output end of the sensing device (8) is electrically connected to the control system. The suction cup assembly (7) is electrically connected to the control system.

4. The large glass loading device according to claim 3, characterized in that: The servo motor (3) is electrically connected to the control system.

5. A method for loading large sheets of glass using the large sheet glass loading apparatus according to any one of claims 1 to 4, characterized in that: After the suction cup frame (6) is flipped to the confirmed position, S1 moves the suction cup frame (6) horizontally to a position close to the glass stack (9). At the same time, the first rocker arm (4) expands according to the actual working conditions so that the suction cup surface of the entire suction cup (72) can synchronously contact the outer edge of the glass stack (9). Then, the suction cup assembly (7) is activated to draw a vacuum and suck up the glass sheet on the outer edge of the glass stack (9). The suction cup assembly (7) has radial force and axial force to pull up the glass sheet. The S2 four-bar linkage starts to retract via the servo motor (3), and the suction cup assembly (7) begins to change from the compressed state to the stretched state. Since the spring preload length in the bottom suction cup assembly (7) is relatively short and the first rocker arm (4) is relatively long, the bottom movement distance is relatively long when the four-bar linkage performs the retraction action, so that the bottom suction cup assembly (7) reaches the preload position first. The axial force of the suction cup assembly (7) takes effect first. Under the action of the axial force, the suction cup assembly (7) pulls out the glass sheet. At the same time, the radial force ensures that it is greater than the weight of the glass sheet to lift the glass sheet. The outer glass sheet is pulled out to break the vacuum between the glass sheets. At this time, the top suction cup assembly (7) gradually reaches the preload position, and the entire glass sheet is pulled out, completing the rolling action. After the S3 glass sheet is pulled out, the four-bar linkage is precisely controlled by the servo motor (3) to stop the retraction action in time, and the suction cup frame (6) is driven by the flipping arm (2) to flip. After the suction cup frame (6) moves to a certain angle, the four-bar linkage begins to retract gradually, and the glass sheet is pulled out of the stacking platform (10) smoothly. When the S4 suction cup holder (6) flips back to its initial position via the flipping arm (2), it starts to release the glass sheet. The vacuum inside the suction cup assembly (7) is released before it is parallel to the conveying platform (11), and the glass sheet is in a free state. The spring (73) in the suction cup assembly (7) has been compressed to near its limit before, and the glass sheet is supported by the suction cup holder (71) in the suction cup assembly (7). At this time, the flipping action ends. The S5 four-bar linkage controls the descent speed of the glass sheet by a servo motor (3) to gradually retract so that the glass sheet can still make stable contact with the suction cup (72) in the suction cup assembly (7) when it is in a free state. The glass sheet descends smoothly and terminates after touching the conveying platform (11). The S6 four-bar linkage continues to retract to its limit position, ensuring that the suction cup surface of the suction cup (72) is lower than the conveying platform (11).

6. The method for loading large sheets of glass according to claim 5, characterized in that: The expansion angle in S1 is between 0.5º and 1.5º.

7. The method for loading large sheets of glass according to claim 5, characterized in that: The preload position of the bottom spring (73) in S2 is 2-3 mm shorter than that of the top spring (73).

8. The method for loading large sheets of glass according to claim 5, characterized in that: During the rolling process in S2, the four-bar linkage returns to the 0º position in the expanded state and then contracts by 1º-2º. The servo motor (3) is used to precisely control the four-bar linkage to stop the contraction action in time.

9. A method for loading large sheets of glass according to claim 5, characterized in that: In S4, the moving trolley (1) moves toward the side away from the glass stack (9).

10. A method for loading large sheets of glass according to claim 5, characterized in that: The suction cup frame (6) is also fixed with a sensing device (8). In S1, when the sensing device (8) touches the glass stack (9), the suction cup frame (6) continues to move horizontally by the moving trolley (1) at a distance slightly greater than the depth of the suction cup (72). Then, the suction cup assembly (7) is started to draw a vacuum. Each suction cup (72) contracts synchronously. After reaching the predetermined negative pressure, the suction cup lip is compressed to the bottom of the suction cup bowl to suck the glass sheet on the outer edge of the glass stack (9).

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