An arm-mounted suction cup type glass semi-finished product film taking robot

Abstract

The application provides an arm-mounted glass semi-product film taking robot with a suction disc, comprising a bottom plate, a mechanical arm arranged on the top surface of the bottom plate, a reversible transfer mechanism connected to the top end of the mechanical arm, a supporting assembly arranged on one side of the top surface of the bottom plate, a supporting table arranged on the other side of the top surface of the bottom plate, a supporting assembly arranged on the top surface of the supporting table, a plurality of spacers stacked in the supporting assembly, a back plate fixed on the top surface of the rear wall of the bottom plate, a conveyor belt arranged on the side wall of the back plate, and a plurality of clamps for clamping the glass substrate fixed on the bottom surface of the conveyor belt, wherein the transfer mechanism is adjusted by the mechanical arm to have four states. By installing the transfer mechanism on the mechanical arm and sequentially passing the transfer mechanism through the supporting assembly, the conveyor belt and the supporting assembly, the extraction of the spacer, the extraction of the glass substrate, the stacking of the spacer and the glass substrate and the pushing and pressing of the spacer and the glass substrate can be gradually completed, thereby improving the efficiency and convenience of the stacking of the glass substrate.

Description

Technical Field

[0001] This invention relates to the field of glass substrate processing equipment technology, specifically to a glass semi-finished product removal robot with a suction cup on its arm. Background Technology

[0002] In the manufacturing process of glass substrates, the overflowing glass substrates are cut into individual pieces by a cross-cutting machine and then hung on a semi-finished product conveyor belt. After being cut by the semi-finished product longitudinal cutting station, they form the initial glass substrates. A portion of them are directly sent to the grinding process, while the excess glass substrates are stacked together, packaged, and then processed with a separator before finally becoming the finished product and being delivered to the customer.

[0003] Currently, when stacking glass substrates, a spacer is typically placed between two substrates. The spacer is mainly made of PE film, but paper may be used as a substitute to save costs. During the separation and stacking of the glass substrates, a suction cup device connected to a robotic arm is used to hold the spacer. After the spacers are stacked, the glass substrates need to be removed from the conveyor belt manually or by another robotic arm and stacked together. However, this suction cup device mounted on the robotic arm has the following problems:

[0004] 1. After the suction cup device on the robotic arm removes the spacer, the robotic arm needs to wait for a human or another robotic arm to pick up and place the glass substrate before it can continue to place the spacer, resulting in low stacking efficiency of the glass substrate.

[0005] 2. The suction cup device on the robotic arm is set to suction PE film. However, when switching to suction paper, it often sucks up several sheets of paper in a row, causing continuous paper drops. After the paper drops, the robotic arm that picks up the separators will stop automatically, affecting normal production. Readjusting or replacing the suction cups will also reduce work efficiency.

[0006] In summary, there is a need for a highly efficient and stable suction cup device for separating stacked glass substrates. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this invention provides a glass semi-finished product removal robot with a suction cup on its arm, which solves the problems mentioned in the background art.

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] A glass semi-finished product film-removing robot with suction cup on its arm includes a base plate. A robotic arm is mounted on the top surface of the base plate, and a flip-up transfer mechanism is connected to the top of the robotic arm. A support assembly is mounted on one side of the top surface of the base plate, and a support platform is mounted on the other side. A racking assembly is mounted on the top surface of the support platform. Multiple partitions are stacked inside the support assembly. A back plate is fixed to the top surface of the rear wall of the base plate, and a conveyor belt is mounted on the side wall of the back plate. Multiple clamps for clamping and transferring glass substrates are fixed to the bottom surface of the conveyor belt. The transfer mechanism can be adjusted to four states by the robotic arm.

[0010] In the first state: the transfer mechanism is located on top of the support assembly and is used to remove the partition;

[0011] In the second state: the transfer mechanism is located at the bottom of the conveyor belt and is used to extract the glass substrate;

[0012] In the third state: the transfer mechanism is located on top of the stacking assembly to stack the spacers and glass substrates one by one;

[0013] In the fourth state: the transfer mechanism is located on the side of the mounting assembly to push and press the stacked spacers and glass substrates;

[0014] The transfer mechanism includes an air pump, a fixed flange, a first motor, a rotating drum, a first connecting plate, a negative suction assembly, and a roller drive assembly. The fixed flange is fixed to the end of the robotic arm. The first motor is fixed to one side of the fixed flange. The rotating end of the first motor is connected to the rotating drum. The first connecting plate is fixed to the outer wall of the rotating drum. There are two first connecting plates fixed in mirror image about the horizontal center line of the rotating drum. Negative suction assemblies are fixed to the side of the two first connecting plates away from the rotating drum. The air pump is located on the outer wall of the robotic arm. One side of the air pump is connected through to the inside of the two sets of negative suction assemblies. A roller drive assembly is arranged between the two sets of negative suction assemblies. One side of the roller drive assembly is connected to the inside of the rotating drum.

[0015] Furthermore, the negative suction assembly includes an air tube, an air valve, a conduit, suction cups, and clamping blocks. One side of the conduit is fixedly connected to the first connecting plate, one end of the conduit is connected to an air valve, one side of the air valve is connected to an air tube, one end of the air tube is connected to an air pump, and clamping blocks are fixed to the outer wall of the conduit. Two clamping blocks are spaced apart and are positioned between the roller drive assembly and the conduit. The clamping blocks and the roller drive assembly are spaced apart, and multiple suction cups are connected through the side wall of the conduit.

[0016] Furthermore, the roller drive assembly includes a second connecting plate, a second motor, rollers, and a first rotating shaft. The second connecting plate is fixed between the other ends of the two guide tubes. The second motor is provided on the side wall of the second connecting plate. The rotating end of the second motor passes through the second connecting plate and is connected to the first rotating shaft. One end of the first rotating shaft is rotatably connected to the inside of the rotating drum. Two rollers are sleeved on the outer wall of the first rotating shaft. The rollers are arranged between two mirror-arranged clamping blocks.

[0017] Furthermore, a collar is fitted onto the outer wall of the fixed flange, and two reinforcing plates are fixed on one side of the collar, with one side of the reinforcing plates fixed to the side wall of the first connecting plate.

[0018] Furthermore, the placement assembly includes a tray, a placement box, a first electrostatic duct, an electrostatic blower, a second electrostatic duct, and a bracket. The bracket is fixed to the bottom surface of the tray, and the placement box is fixed to the top surface of the tray. Two placement boxes are mirror images of the horizontal center line of the tray. A second electrostatic duct is provided on one side of the tray, and multiple through holes are opened on both the top and bottom surfaces of the second electrostatic duct. A first electrostatic duct is provided on the top surface of one side of the tray, and multiple through holes are opened on the bottom surface of the first electrostatic duct. Two first electrostatic ducts are mirror images of the horizontal center line of the tray. An electrostatic blower is fixed to the side wall of the tray, and the electrostatic blower is internally connected to the two first electrostatic ducts and the second electrostatic duct.

[0019] Furthermore, the pallet assembly also includes a lifting baffle and a third motor. The third motor is located on the side of the pallet away from the electrostatic blower. The rotating end of the motor is connected to a second rotating shaft, which is rotatably connected to the inside of the pallet. A gear is sleeved on the outer wall of the second rotating shaft. The lifting baffle is inserted through the inside of the pallet. A toothed groove is provided on one side of the lifting baffle, and the lifting baffle is connected to the gear through the toothed groove.

[0020] Furthermore, the top and bottom surfaces of the lifting baffle are both fixed with sliding strips, and two positioning blocks are fixed on the side of the lifting baffle away from the placement box. The top and bottom surfaces of the tray are both provided with positioning grooves for the positioning blocks to be inserted.

[0021] Sliding strips are installed on both the top and bottom surfaces of the lifting baffle to further prevent other baffles from moving, and positioning blocks are used to position the movement of the lifting baffle.

[0022] Furthermore, the mounting assembly includes a diagonal brace, side baffles, a support plate, a trolley, and a positioning bolt. The trolley is mounted on the top surface of the support platform, and the diagonal brace is connected to the top surface of the trolley. Two side baffles are fixed to the side wall of the diagonal brace, and a fixing frame is fixed to the other side of the diagonal brace. The fixing frame is fixed to the top surface of the trolley, and the support plate is fixed to the bottom of the side wall of the diagonal brace. A positioning bolt is connected through the inside of the trolley, and an anti-slip plate is connected to the bottom end of the positioning bolt. The anti-slip plate is attached to the top surface of the support platform.

[0023] Furthermore, the mounting assembly also includes a pressing component, which is disposed on the bottom surface of the support plate and has one side connected through to the top of the support plate. The pressing component pushes and presses the partition and glass substrate through rollers.

[0024] Furthermore, the pushing component includes a pressure plate, a slider, a guide rod, a spring, and a fixing block. The slider is fixed to the bottom surface of the pressure plate and is slidably connected to the inside of the support plate. The fixing block is fixed to the bottom surface of the support plate, and the guide rod is connected to the side wall of the fixing block. The slider is slidably sleeved on the outer wall of the guide rod, and a spring is sleeved on the outer wall of the guide rod. The spring is connected between the fixing block and the side wall of the slider. The thickness of the support plate is less than the distance between the roller and the clamping block.

[0025] This invention provides a robot for picking up semi-finished glass products with a suction cup mounted on its arm. Compared with the prior art, it has the following advantages:

[0026] 1. By installing the transfer mechanism on the robotic arm, the transfer mechanism is sequentially passed through the support assembly, conveyor belt and rack assembly, which can gradually complete the extraction of the spacer, the extraction of the glass substrate, the stacking of the spacer and the glass substrate and the pressing and gathering, thus improving the efficiency and convenience of separating and stacking the glass substrate.

[0027] 2. When using the negative suction component to pick up spacers of different materials from the support component, the first motor can drive the flip to switch to another set of negative suction components. Different negative pressures can be set to stably pick up spacers of different materials, which can effectively avoid downtime for adjustment due to changing spacers of different materials and ensure the continuity of production.

[0028] 3. After the spacers and glass substrates are stacked on the rack assembly, they are pushed and squeezed together by adjusting the transfer mechanism, making the stacking more compact and stable. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This diagram illustrates the structure of a glass semi-finished product removal robot with a suction cup on its arm according to the present invention.

[0031] Figure 2 A schematic diagram of the connection structure between the robotic arm and the transfer mechanism of the present invention is shown;

[0032] Figure 3 A schematic diagram of the support assembly structure of the present invention is shown;

[0033] Figure 4 A cross-sectional view of the internal connection structure between the pallet and the lifting baffle of the present invention is shown;

[0034] Figure 5A schematic diagram of the transfer mechanism of the present invention in the state of extracting the glass substrate is shown;

[0035] Figure 6 A schematic diagram of the transfer mechanism of the present invention showing the stacked spacers and glass substrate is shown.

[0036] Figure 7 A schematic diagram of the structure of the transfer mechanism of the present invention in the state of pushing the pressure plate to press the glass clamp is shown;

[0037] Figure 8 A schematic diagram of the connection structure between the pushing component and the support plate of the present invention is shown;

[0038] The diagram shows: 1. Base plate; 2. Robotic arm; 3. Transfer mechanism; 31. Air pump; 32. Fixed flange; 321. Collar; 322. Reinforcing plate; 33. First motor; 34. Rotary drum; 35. First connecting plate; 36. Negative suction assembly; 361. Air pipe; 362. Air valve; 363. Conduit; 364. Suction cup; 365. Clamping block; 37. Roller drive assembly; 371. Second connecting plate; 372. Second motor; 373. Roller; 374. First rotating shaft; 4. Placing assembly; 41. Pallet; 411. Positioning slot; 42. Placement box; 43. First electrostatic air duct; 44. Electrostatic blower. 45. Fan; 46. Second electrostatic duct; 47. Lifting baffle; 48. Positioning block; 49. Sliding strip; 40. Third motor; 41. Second rotating shaft; 42. Gear; 43. Bracket; 44. Conveyor belt; 5. Clamp; 6. Back plate; 7. Erection assembly; 85. Diagonal brace; 81. Fixing frame; 82. Side baffle; 83. Support plate; 84. Pushing component; 85. Pressure plate; 86. Slider; 87. Guide rod; 88. Spring; 99. Fixing block; 80. Cart; 81. Positioning bolt; 82. Anti-slip plate; 90. Support platform; 9a. Partition; 9b. Glass substrate. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are described clearly and completely. 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.

[0040] Example 1

[0041] To address the technical problems in the background section, the following is provided: a glass semi-finished product removal robot with a suction cup on its arm.

[0042] Combination Figures 1-8As shown, the novel device 364 with a suction cup on the arm of a semi-finished product film removal robot provided by the present invention includes a base plate 1. A robotic arm 2 is provided on the top surface of the base plate 1. A flip-up transfer mechanism 3 is connected to the top of the robotic arm 2. A support assembly 4 is provided on one side of the top surface of the base plate 1, and a support platform 9 is provided on the other side of the top surface. A racking assembly 8 is provided on the top surface of the support platform 9. Multiple partitions 9a are stacked inside the support assembly 4. A back plate 7 is fixed on the top surface of the rear wall of the base plate 1. A conveyor belt 5 is provided on the side wall of the back plate 7. Multiple clamps 6 for clamping and transferring glass substrates 9b are fixed on the bottom surface of the conveyor belt 5. The transfer mechanism 3 can be adjusted to four states by the robotic arm 2.

[0043] In the first state: the transfer mechanism 3 is located on top of the support assembly 4 and is used to extract the partition 9a;

[0044] In the second state: the transfer mechanism 3 is located at the bottom of the conveyor belt 5 to extract the glass substrate 9b;

[0045] In the third state: the transfer mechanism 3 is set on the top of the stacking assembly 8 to stack the spacers 9a and the glass substrate 9b one by one;

[0046] In the fourth state: the transfer mechanism 3 is located on the side of the mounting assembly 8 and is used to push the stacked spacer 9a and glass substrate 9b.

[0047] The transfer mechanism 3 includes an air pump 31, a fixed flange 32, a first motor 33, a rotating drum 34, a first connecting plate 35, a negative suction assembly 36, and a roller drive assembly 37. The fixed flange 32 is fixed to the end of the robotic arm 2. The first motor 33 is fixed to one side of the fixed flange 32. The rotating end of the first motor 33 is connected to the rotating drum 34. The first connecting plate 35 is fixed to the outer wall of the rotating drum 34. There are two first connecting plates 35 mirror images of the horizontal center line of the rotating drum 34. The negative suction assembly 36 is fixed to the side of the two first connecting plates 35 away from the rotating drum 34. The air pump 31 is set on the outer wall of the robotic arm 2. One side of the air pump 31 is connected to the inside of the two sets of negative suction assemblies 36. The roller drive assembly 37 is set between the two sets of negative suction assemblies 36. One side of the roller drive assembly 37 is connected to the inside of the rotating drum 34.

[0048] The following effects can be achieved based on the above structure:

[0049] 1. By installing the transfer mechanism 3 on the robotic arm 2, the transfer mechanism 3 is sequentially passed through the support assembly 4, the conveyor belt 5 and the rack assembly 8, which can gradually complete the extraction of the spacer 9a, the extraction of the glass substrate 9b, the stacking of the spacer 9a and the glass substrate 9b and the pressing and concentrating, thereby improving the efficiency and convenience of separating and stacking the glass substrate 9b.

[0050] 2. When using the negative suction component 36 to pick up spacers 9a of different materials from the support component 4, the first motor 33 can drive the flip to switch to another set of negative suction components 36. Different negative pressures can be set to stably pick up spacers 9a of different materials, which can effectively avoid downtime for adjustment due to changing spacers 9a of different materials and ensure the continuity of production.

[0051] 3. After the spacer 9a and the glass substrate 9b are stacked on the mounting assembly 8, they are pushed and squeezed together by adjusting the transfer mechanism 3, so that the stacking is more compact and stable.

[0052] In this embodiment, the negative suction assembly 36 includes an air tube 361, an air valve 362, a conduit 363, suction cups 364, and clamping blocks 365. One side of the conduit 363 is fixedly connected to the first connecting plate 35. One end of the conduit 363 is connected to the air valve 362. One side of the air valve 362 is connected to the air tube 361. One end of the air tube 361 is connected to the air pump 31. Clamping blocks 365 are fixed to the outer wall of the conduit 363. Two clamping blocks 365 are spaced apart. The clamping blocks 365 are disposed between the roller drive assembly 37 and the conduit 363. The clamping blocks 365 and the roller drive assembly 37 are spaced apart. Multiple suction cups 364 are connected through the side wall of the conduit 363.

[0053] In this embodiment, the roller drive assembly 37 includes a second connecting plate 371, a second motor 372, rollers 373, and a first rotating shaft 374. The second connecting plate 371 is fixed between the other ends of the two guide tubes 363. The second motor 372 is provided on the side wall of the second connecting plate 371. The rotating end of the second motor 372 passes through the second connecting plate 371 and is connected to the first rotating shaft 374. One end of the first rotating shaft 374 is rotatably connected to the inside of the rotating drum 34. Two rollers 373 are sleeved on the outer wall of the first rotating shaft 374. The rollers 373 are disposed between two mirror-arranged clamping blocks 365.

[0054] After a spacer 9a is picked up by the suction cup 364 of a set of negative suction components 36, it is flipped to make the spacer 9a vertical. At the same time, the two sets of negative suction components 36 are kept horizontal and moved to the position of the glass substrate 9b. Then, the glass substrate 9b is inserted between the clamping block 365 and the roller 373 by controlling the rise. The glass substrate 9b is pulled away from the clamp 6 by driving the roller 373, and the glass substrate 9b and the spacer 9a are transferred in parallel, which facilitates the subsequent stacking of the spacer 9a and the glass substrate 9b and improves the convenience of operation.

[0055] In this embodiment, a collar 321 is sleeved on the outer wall of the fixed flange 32, and two reinforcing plates 322 are fixed on one side of the collar 321. One side of the reinforcing plate 322 is fixed to the side wall of the first connecting plate 35.

[0056] The overall structural strength is improved by adding a collar 321 and a reinforcing plate 322 to the fixed flange 32 and connecting it to the first connecting plate 35.

[0057] Example 2

[0058] like Figures 3-4 As shown, based on the above embodiments, this embodiment further provides the following:

[0059] To achieve the above effect, the following structure is adopted;

[0060] The support assembly 4 includes a tray 41, a placement box 42, a first electrostatic duct 43, an electrostatic blower 44, a second electrostatic duct 45, and a bracket 48. The bracket 48 is fixed to the bottom surface of the tray 41, and the placement box 42 is fixed to the top surface of the tray 41. There are two placement boxes 42 mirror images of the horizontal center line of the tray 41. A second electrostatic duct 45 is provided on one side of the tray 41. Multiple through holes are opened on both the top and bottom surfaces of the second electrostatic duct 45. A first electrostatic duct 43 is provided on the top surface of one side of the tray 41. Multiple through holes are opened on the bottom surface of the first electrostatic duct 43. There are two first electrostatic ducts 43 mirror images of the horizontal center line of the tray 41. An electrostatic blower 44 is fixed to the side wall of the tray 41. The electrostatic blower 44 is internally connected to the two first electrostatic ducts 43 and the second electrostatic duct 45.

[0061] After placing the partition 9a inside the placement box 42, a partition 9a is extracted and separated by suction cup 364. During the extraction process, the partition 9a passes through the first electrostatic duct 43 and the second electrostatic duct 45, which can eliminate static electricity on both sides of the partition 9a at the same time, thereby ensuring the stability of the transfer and stacking of the partition 9a. The operation is simple.

[0062] In this embodiment, the pallet assembly 4 further includes a lifting baffle 46 and a third motor 47. The motor is located on the side of the pallet 41 away from the electrostatic blower 44. The rotating end of the third motor 47 is connected to a second rotating shaft 471, which is rotatably connected inside the pallet 41. A gear 472 is sleeved on the outer wall of the second rotating shaft 471. The lifting baffle 46 is inserted through the pallet 41. A toothed groove is provided on one side of the lifting baffle 46, and the lifting baffle 46 is meshed with the gear 472 through the toothed groove.

[0063] By driving the lifting baffle 46 to stop, it can be ensured that after one partition 9a is pulled out, the remaining partition 9a can be stably stored inside the placement box 42, ensuring the stability of each partition 9a extraction.

[0064] In this embodiment, the top and bottom surfaces of the lifting baffle 46 are both fixed with sliding strips 462, and two positioning blocks 461 are fixed on the side of the lifting baffle 46 away from the placement box 42. The top and bottom surfaces of the tray 41 are both provided with positioning grooves 411 for the positioning blocks 461 to be inserted.

[0065] Sliding strips 462 are provided on both the top and bottom surfaces of the lifting baffle 46 to further prevent other partitions 9a from moving along with it, and positioning blocks 461 are used to position the movement of the lifting baffle 46.

[0066] When the partitions 9a at the top of the tray 41 are removed layer by layer, the lifting baffle 46 is lowered to release the stop on the next layer of partitions 9a. After the top partition 9a is completely removed, the lifting baffle 46 is lowered to position and stop the partitions 9a at the bottom of the tray 41, so as to continue to release the bottom partitions 9a layer by layer.

[0067] Example 3

[0068] like Figures 2-5 As shown, based on the above embodiments, this embodiment further provides the following:

[0069] To achieve the above effect, the following structure is adopted;

[0070] The mounting assembly 8 includes a diagonal brace 81, a side baffle 82, a support plate 83, a trolley 85, and a positioning bolt 86. The trolley 85 is mounted on the top surface of the support platform 9. The diagonal brace 81 is connected to the top surface of the trolley 85. Two side baffles 82 are fixed to the side wall of the diagonal brace 81. A fixing frame 811 is fixed to the other side of the diagonal brace 81 and is fixed to the top surface of the trolley 85. The support plate 83 is fixed to the bottom of the side wall of the diagonal brace 81. A positioning bolt 86 is connected through the inside of the trolley 85. An anti-slip plate 861 is connected to the bottom end of the positioning bolt 86 and fits against the top surface of the support platform 9.

[0071] In this embodiment, the mounting assembly 8 further includes a pressing component 84, which is disposed on the bottom surface of the support plate 83. One side of the pressing component 84 is connected through to the top of the support plate 83. The pressing component 84 pushes and presses the spacer 9a and the glass substrate 9b through the roller 373.

[0072] In this embodiment, the pushing component 84 includes a pressure plate 841, a slider 842, a guide rod 843, a spring 844, and a fixing block 845. The slider 842 is fixed to the bottom surface of the pressure plate 841 and is slidably connected to the inside of the support plate 83. The fixing block 845 is fixed to the bottom surface of the support plate 83. The guide rod 843 is connected to the side wall of the fixing block 845. The slider 842 is slidably sleeved on the outer wall of the guide rod 843. The spring 844 is sleeved on the outer wall of the guide rod 843 and is connected between the fixing block 845 and the side wall of the slider 842. The thickness of the support plate 83 is less than the distance between the roller 373 and the clamping block 365.

[0073] The robotic arm 2 drives the roller 373 and clamping block 365 to rotate, so that the support plate 83 is inserted between the roller 373 and clamping block 365. The roller 373 pushes the pressure plate 841, so that the pressure plate 841 tightly stacks the glass substrate 9b and spacer 9a together, which is easy to operate.

[0074] Working principle and usage process of this invention:

[0075] First press Figures 1-8 Start the robotic arm 2 and move the entire transfer mechanism 3 to the top of the partition 9a. The partition 9a used on the top surface of the tray 41 is PE film, and the partition 9a used on the bottom surface of the tray 41 is paper. Attach the suction cup 364 on one side of the guide tube 363 to the top surface of the partition 9a. Start the air pump 31, and the suction cup 364 will firmly suction the top partition 9a. The suction force of the suction cup 364 is adjusted and controlled by the air valve 362 to ensure that the suction force of the suction cup 364 is just enough to firmly suction the top partition 9a. Start the third motor 47, and the motor drives the second rotating shaft 471 to rotate. The gear 472 drives the lifting baffle 46 to descend, releasing the stop on the top partition 9a. Then control the robotic arm 2 to move the entire transfer mechanism 3 to pull out the partition 9a. Start the electrostatic blower 44. During the extraction process, blow air from the inside of the first electrostatic air duct 43 and the second electrostatic air duct 45 to suppress the generation of static electricity on both sides of the partition 9a.

[0076] The robotic arm 2 drives the transfer mechanism 3 to move to the bottom of the glass substrate 9b. During the translation process, the first motor 33 is started, the two guide tubes 363 rotate to the same horizontal height, and the spacer 9a held by the suction cup 364 remains vertical. Then the robotic arm 2 drives the transfer mechanism 3 to rise, so that the glass substrate 9b is inserted between the roller 373 and the clamping block 365. The second motor 372 is started, driving the roller 373 to rotate. The roller 373 drives the glass substrate 9b to move downward and be pulled away from the clamp 6.

[0077] Then, the robotic arm 2 moves the transfer mechanism 3, which has extracted the spacer 9a and the glass substrate 9b, to the top of the mounting assembly 8, starts the first motor 33, drives the guide tube 363 and the roller 373 to rotate, so that the spacer 9a and the glass substrate 9b are parallel to the inclined support plate 81, and stops the air pump 31 to release the spacer 9a to adhere to the inclined support plate 81. The support plate 83 supports the bottom of the spacer 9a. Then, the second motor 372 starts to drive the roller 373 to rotate. The roller 373 rolls and pushes the glass substrate 9b to slide the clamping block 365, placing the glass substrate 9b on the support plate 83. After the glass substrate 9b separates from the roller 373 and the clamping block 365, the glass substrate 9b tilts and adheres to the spacer 9a.

[0078] Then, the robotic arm 2 drives the transfer mechanism 3 to descend and approach the support plate 83. The first motor 33 is started, and the two guide tubes 363 are rotated. The robotic arm 2 drives the transfer mechanism 3 to move along the plane of the support plate 83, so that the support plate 83 is inserted between the roller 373 and the clamping block 365. The second motor 372 is started, driving the roller 373 to roll on the support plate 83 and push the pressure plate 841. The slider 842 slides on the guide rod 843 and compresses the spring 844 until the pressure plate 841 pushes the glass substrate 9b and the spacer 9a to fit tightly together. Then, it returns and re-extracts the next spacer 9a and glass substrate 9b.

[0079] After the partition 9a at the top of the pallet 41 is used up, the lifting baffle 46 descends and stops at the side wall of the partition 9a at the bottom of the pallet 41, and the mechanical arm 2 controls the transfer mechanism 3 to move to the bottom of the pallet 41 to extract the partitions 9a layer by layer.

[0080] After the glass substrates 9b are stacked separately, the rotating positioning bolt 86 separates the anti-slip plate 861 from the support platform 9, and then the control trolley 85 slides down from the support platform 9 to transfer and pack the stacked glass substrates 9b.

[0081] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0082] 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 robot for removing semi-finished glass products with suction cups on its arm, characterized in that: The system includes a base plate, a robotic arm on the top surface of the base plate, a rotatable transfer mechanism connected to the top of the robotic arm, a support assembly on one side of the top surface of the base plate, a support platform on the other side of the top surface of the support platform, a racking assembly on the top surface of the support platform, multiple partitions stacked inside the support assembly, a back plate fixed to the top surface of the rear wall of the base plate, a conveyor belt on the side wall of the back plate, and multiple clamps for clamping and transferring glass substrates fixed to the bottom surface of the conveyor belt. The transfer mechanism is adjustable to four states via the robotic arm. In the first state: the transfer mechanism is located on top of the support assembly and is used to remove the partition; In the second state: the transfer mechanism is located at the bottom of the conveyor belt and is used to extract the glass substrate; In the third state: the transfer mechanism is located on top of the stacking assembly to stack the spacers and glass substrates one by one; In the fourth state: the transfer mechanism is located on the side of the mounting assembly to push and press the stacked spacers and glass substrates; The transfer mechanism includes an air pump, a fixed flange, a first motor, a rotating drum, a first connecting plate, a negative suction assembly, and a roller drive assembly. The fixed flange is fixed to the end of the robotic arm. The first motor is fixed to one side of the fixed flange. The rotating end of the first motor is connected to the rotating drum. The first connecting plate is fixed to the outer wall of the rotating drum. There are two first connecting plates fixed in mirror image about the horizontal center line of the rotating drum. Negative suction assemblies are fixed to the side of the two first connecting plates away from the rotating drum. The air pump is set on the outer wall of the robotic arm. One side of the air pump is connected through to the inside of the two sets of negative suction assemblies. A roller drive assembly is set between the two sets of negative suction assemblies. One side of the roller drive assembly is connected to the inside of the rotating drum. The placement assembly includes a tray, a placement box, a first electrostatic duct, an electrostatic blower, a second electrostatic duct, and a bracket. The bracket is fixed to the bottom surface of the tray, and the placement box is fixed to the top surface of the tray. Two placement boxes are mirror images of the horizontal center line of the tray. A second electrostatic duct is provided on one side of the tray, and multiple through holes are opened on both the top and bottom surfaces of the second electrostatic duct. A first electrostatic duct is provided on the top surface of one side of the tray, and multiple through holes are opened on the bottom surface of the first electrostatic duct. Two first electrostatic ducts are mirror images of the horizontal center line of the tray. An electrostatic blower is fixed to the side wall of the tray, and the electrostatic blower is internally connected to the two first electrostatic ducts and the second electrostatic duct. The pallet assembly also includes a lifting baffle and a third motor. The third motor is located on the side of the pallet away from the electrostatic blower. The rotating end of the motor is connected to a second rotating shaft, which is rotatably connected to the inside of the pallet. A gear is sleeved on the outer wall of the second rotating shaft. The lifting baffle is inserted through the inside of the pallet. A toothed groove is provided on one side of the lifting baffle, and the lifting baffle is connected to the gear through the toothed groove.

2. The glass semi-finished product removal robot with suction cup on its arm according to claim 1, characterized in that: The negative suction assembly includes an air tube, an air valve, a conduit, suction cups, and clamping blocks. One side of the conduit is fixedly connected to the first connecting plate, one end of the conduit is connected to an air valve, one side of the air valve is connected to an air tube, one end of the air tube is connected to an air pump, and clamping blocks are fixed to the outer wall of the conduit. Two clamping blocks are spaced apart and are positioned between the roller drive assembly and the conduit. The clamping blocks and the roller drive assembly are spaced apart, and multiple suction cups are connected through the side wall of the conduit.

3. The glass semi-finished product removal robot with suction cup on its arm according to claim 2, characterized in that: The roller drive assembly includes a second connecting plate, a second motor, rollers, and a first rotating shaft. The second connecting plate is fixed between the other ends of the two guide tubes. The second motor is provided on the side wall of the second connecting plate. The rotating end of the second motor passes through the second connecting plate and is connected to the first rotating shaft. One end of the first rotating shaft is rotatably connected to the inside of the rotating drum. Two rollers are sleeved on the outer wall of the first rotating shaft. The rollers are arranged between two mirror-arranged clamping blocks.

4. The glass semi-finished product removal robot with suction cup on its arm according to claim 1, characterized in that: The outer wall of the fixed flange is fitted with a collar, and two reinforcing plates are fixed on one side of the collar. One side of the reinforcing plates is fixed to the side wall of the first connecting plate.

5. The glass semi-finished product removal robot with suction cup on its arm according to claim 1, characterized in that: The top and bottom surfaces of the lifting baffle are both fixed with sliding strips, and two positioning blocks are fixed on the side of the lifting baffle away from the placement box. The top and bottom surfaces of the tray are both provided with positioning grooves for the positioning blocks to be inserted. Sliding strips are installed on both the top and bottom surfaces of the lifting baffle to further prevent other baffles from moving, and positioning blocks are used to position the movement of the lifting baffle.

6. The glass semi-finished product removal robot with suction cup on its arm according to claim 3, characterized in that: The mounting assembly includes a diagonal brace, side baffles, a support plate, a trolley, and a positioning bolt. The trolley is mounted on the top surface of the support platform. The diagonal brace is connected to the top surface of the trolley. Two side baffles are fixed to the side wall of the diagonal brace. A fixing frame is fixed to the other side of the diagonal brace and is fixed to the top surface of the trolley. A support plate is fixed to the bottom of the side wall of the diagonal brace. A positioning bolt is connected through the inside of the trolley. An anti-slip plate is connected to the bottom end of the positioning bolt and fits against the top surface of the support platform.

7. A glass semi-finished product removal robot with suction cup on its arm according to claim 6, characterized in that: The mounting assembly also includes a pressing component, which is disposed on the bottom surface of the support plate and has one side connected to the top of the support plate. The pressing component pushes and presses the partition and glass substrate through rollers.

8. A glass semi-finished product removal robot with suction cup on its arm according to claim 7, characterized in that: The pushing component includes a pressure plate, a slider, a guide rod, a spring, and a fixing block. The slider is fixed to the bottom surface of the pressure plate and is slidably connected to the inside of the support plate. The fixing block is fixed to the bottom surface of the support plate. The guide rod is connected to the side wall of the fixing block. The slider is slidably sleeved on the outer wall of the guide rod. A spring is sleeved on the outer wall of the guide rod and is connected between the fixing block and the side wall of the slider. The thickness of the support plate is less than the distance between the roller and the clamping block.

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