A method and apparatus for reducing glass loading-induced scratching

Abstract

The application relates to a method and device for reducing scratch caused by glass loading, which comprises the following steps: moving a loading device to a waiting position at a first speed to clamp a spacer paper and adsorb glass, moving the loading device to a searching position with the glass and the spacer paper; synchronously moving the glass and the spacer paper into a A-shaped frame area at a second speed with the loading device, moving the glass and the spacer paper to a vacuum position at a third speed through a just-in-position with the loading device; moving the loading device to the waiting position after the glass is placed; clamping the glass placed on the inclined surface of a pressing device on the A-shaped frame, discharging air between the glass and the spacer paper through the method, reducing the possibility of contact between adjacent glasses in the process of loading the glass into the A-shaped frame, reducing relative friction between the glass and the spacer paper, reducing the contact between surfaces of two adjacent glasses to improve the glass quality, limiting the glass loaded into the A-shaped frame through the device, and avoiding relative friction between the several glasses in the A-shaped frame.

Description

Technical Field

[0001] This invention relates to the field of glass loading technology, and in particular to a method and apparatus for reducing scratches caused by glass loading. Background Technology

[0002] The production and further processing of carrier glass often involves multiple steps. From semi-finished glass to finished glass, it needs to be transferred from the production workshop to the further processing workshop; or, if semi-finished glass is to be stored for a long time, it needs to be transferred from the production workshop to the warehouse. Therefore, the aforementioned semi-finished glass needs to be loaded into containers, and the mainstream semi-finished glass packaging currently is the vertical A-type rack.

[0003] The glass loading system mainly consists of a packaging robot loading device and a spacer paper supply device. The spacer paper supply device provides spacers between the glass panes. The packaging robot picks up and absorbs the spacers and glass panes and moves them to load them into the A-frame. One glass pane and one spacer paper are stacked automatically.

[0004] Semi-finished glass is typically loaded into A-frames using loading equipment (e.g., robotic loading devices and automatic spacer paper supply devices). Multiple sheets of semi-finished glass are directly loaded into the A-frames (the main process involves the loading equipment gripping the spacer paper and suction cup supports adsorbing the glass, moving both synchronously to the A-frame). When loading several sheets of glass onto an A-frame container, the mainstream method is to separate adjacent sheets with spacer paper, stacking them one sheet of glass per spacer. During stacking, the most common quality defects in glass are scratches and breakage. Scratches are the most common quality defect and the most frequent quality incidents. Currently, the most widely used glass in the carrier glass industry is between 0.0-0.3mm thick, which is very thin. During the loading process, airflow fluctuations cause displacement (temporary deformation or fluctuation) when the glass contacts the A-frame. Air is compressed between the glass and the spacer paper, resulting in significant relative movement between the glass and the spacer paper, causing contact between adjacent glass sheets or friction between the glass and the spacer paper. When the surfaces of two adjacent glass panes come into contact, scratches and breakage occur, leading to quality loss or scrapping of both panes. Alternatively, scratches can be caused by friction between the spacer paper and the glass, increasing the likelihood of quality defects. This existing glass loading method easily causes glass scratches during the loading process, affecting its quality. Summary of the Invention

[0005] This invention provides a method and apparatus for reducing scratches during glass loading. When loading glass into an A-frame, this method removes air between the glass and spacer paper, reducing the likelihood of contact between adjacent glass panes during loading and reducing relative friction between the glass and spacer paper. This reduces contact between adjacent glass surfaces, improving glass quality. A clamping device limits the glass loaded onto the A-frame, preventing relative friction between several panes within the glass. To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended as a general description, nor is it intended to identify key / important elements or describe the scope of protection of these embodiments. Its sole purpose is to present some concepts in a simple form as a prelude to the detailed description that follows.

[0006] This application provides a method for reducing scratches during glass loading. The loading device transports glass to an A-frame, passing through a waiting position, a search position, a positioning position, a vacuum position, and a return position. The method includes the following steps: The loading device moves to the waiting position at a first speed, picks up spacer paper, and adsorbs the glass. The spacer paper naturally droops and flattens due to its own weight, expelling air between the spacer paper and the glass, causing the glass and spacer paper to adhere together. The loading device then moves the glass and spacer paper to the search position at a second speed. The loading device maintains a gap between the bottom of the glass and the bottom surface of the A-frame at the second speed while simultaneously moving the glass and spacer paper into the A-frame area. The loading device then moves the glass and spacer paper to the positioning position at a third speed to the vacuum position. At the vacuum position, the loading device moves the glass and spacer paper at an angle to the upper slope of the A-frame. The suction cup of the loading device breaks the vacuum, expelling air between the glass and spacer paper, causing the bottom surface of the glass and spacer paper to contact the bottom surface of the A-frame. After placement, the loading device moves to the waiting position at the first speed via the return position. A clamping device on the A-frame clamps the glass placed on its slope.

[0007] In a preferred embodiment, the first speed is greater than the second speed, the second speed is greater than the third speed, the second speed is less than 30% of the first speed, and the third speed is 5%-10% of the first speed.

[0008] In a preferred embodiment, when the loading device maintains the gap between the glass and the bottom surface of the A-frame at a second speed and simultaneously drives the glass and spacer paper into the area of ​​the A-frame, the distance between the bottom of the glass and the bottom surface of the A-frame is 3mm-5mm. The loading device drives the glass and spacer paper to maintain a 2° angle with the upper part of the inclined surface of the A-frame at the vacuum position.

[0009] A device for reducing scratches caused by glass loading includes: a glass carrying device, comprising two A-frames placed symmetrically on the left and right, the left and right sides of the glass carrying device being inclined surfaces formed by the sides of the A-frames, the inclined surfaces on the left and right sides being used to carry a number of pieces of glass; and a clamping device, disposed on the glass carrying device, comprising two sets of identical structures, the clamping devices being disposed corresponding to the A-frames, each set of clamping devices clamping the glass carried by each A-frame.

[0010] In a preferred embodiment, each set of clamping devices is located at a different height, and each set of clamping devices includes two devices symmetrically arranged front and back. Each clamping device includes a cylinder fixedly mounted on an A-frame. The telescopic end of the cylinder is telescopically mounted on the side of the A-frame that carries the glass. A clamping block is movably mounted on the inclined surface of the A-frame, and the clamping block is movably connected to the telescopic end of the cylinder.

[0011] In a preferred embodiment, a connecting plate is fixedly installed on the inclined surface of the clamping block away from the A-frame. A first connecting rod is hinged to the middle of the connecting plate, a second connecting rod is hinged to the end of the connecting plate away from the clamping block, and a third connecting rod is hinged to the middle of the first connecting rod. A support block is fixedly installed on the A-frame. The first connecting rod is located on the same side as the clamping block. The end of the first connecting rod away from the connecting plate is hinged to the support block. The ends of the second connecting rod away from the connecting plate and the third connecting rod away from the first connecting rod are both hinged to the movable end of the cylinder.

[0012] In a preferred embodiment, the first link, the second link, and the third link each include two symmetrically arranged pieces. The support block is convex in shape. The two pieces of the first link are located on the upper and lower sides of the convex part of the support block, respectively. The bottom of the two pieces of the second link and the bottom of the third link are hinged to the moving end of the cylinder. The top of the two pieces of the third link are hinged to the middle of the upper and lower pieces of the second link. The top of the two pieces of the second link are hinged to the upper and lower sides of the connecting plate, respectively.

[0013] In a preferred embodiment, the side of the clamping block opposite to the A-frame is an inclined plane, and the inclined plane of the clamping block and the inclined plane of the A-frame are parallel to each other.

[0014] The technical solutions provided by the embodiments of the present invention may include the following beneficial effects: When loading glass into the A-frame, this method removes air between the glass and the spacer paper, reducing the possibility of contact between adjacent glass pieces during loading and reducing relative friction between the glass and the spacer paper. This also reduces contact between the surfaces of adjacent glass pieces, thus improving glass quality. The device also limits the glass loaded onto the A-frame, preventing relative friction between several pieces of glass inside.

[0015] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0017] Figure 1 This is a schematic diagram illustrating the movement trajectory of a loading device during the glass loading process, according to an exemplary embodiment. Figure 2 This is a schematic diagram of a waiting position according to an exemplary embodiment; Figure 3 This is a schematic diagram of the search location according to an exemplary embodiment; Figure 4 This is a schematic diagram of the positioning position according to an exemplary embodiment; Figure 5 This is a schematic diagram of a vacuum position according to an exemplary embodiment; Figure 6 This is a schematic diagram of the return position according to an exemplary embodiment; Figure 7 This is a schematic diagram of the structure of a glass support device according to an exemplary embodiment; Figure 8 This is a schematic diagram of the structure of the left A-frame in a glass support device according to an exemplary embodiment; Figure 9 This is a schematic diagram of the structure of a clamping device according to an exemplary embodiment.

[0018] 1-Suction cup bracket; 2-Loading equipment; 3-Suction cup; 4-A-frame; 5-Glass bearing device; 6-Pressure device; 7-Pressure block; 8-Connecting plate; 9-First connecting rod; 10-Second connecting rod; 11-Third connecting rod; 12-Support block; 13-Cylinder; a-3mm-5mm; b-30mm. Detailed Implementation

[0019] The following description and accompanying drawings fully illustrate specific embodiments described herein to enable those skilled in the art to practice them. Some embodiments may include or substitute parts and features of other embodiments. The scope of the embodiments herein encompasses the entire scope of the claims and all available equivalents thereof. Throughout this document, the terms “first,” “second,” etc., are used only to distinguish one element from another without requiring or implying any actual relationship or order between the elements. Indeed, a first element can also be referred to as a second element, and vice versa. Furthermore, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a structure, apparatus, or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a structure, apparatus, or device. Without further limitation, an element defined by the phrase “comprising one…” does not exclude the presence of other identical elements in the structure, apparatus, or device that includes the element. The various embodiments described herein are presented in a progressive manner, with each embodiment focusing on its differences from other embodiments; similar or identical parts between embodiments can be referred to interchangeably.

[0020] The terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" used in this document to indicate orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings and are used only for the convenience of describing this document and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention. In the description herein, unless otherwise specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to mechanical or electrical connections, or internal connections between two elements, or direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0021] In this document, unless otherwise stated, the term "multiple" means two or more.

[0022] In this article, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0023] In this article, the term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0024] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0025] Please refer to Figures 1-6 This embodiment provides a method to reduce scratches caused by glass loading. The loading device 2 transports the glass to the A-frame 4, passing through a waiting position, a search position, a positioning position, a vacuum position, and a return position. The method includes the following steps: The loading device 2 moves to the waiting position at a first speed, picks up the spacer paper, and adsorbs the glass. The spacer paper naturally droops and flattens due to its own weight, expelling air between the spacer paper and the glass, and the glass and spacer paper adhere together. The loading device 2 then moves the glass and spacer paper to the search position at a second speed. The loading device 2 maintains a gap between the bottom of the glass and the bottom surface of the A-frame 4 at the second speed and synchronously moves the glass and spacer paper together. The paper enters the area of ​​the A-frame 4. The loading device 2 moves the glass and spacer paper at a third speed from the positioning position to the vacuum position. The loading device 2 moves the glass and spacer paper at the vacuum position so that the glass and spacer paper are at an angle to the upper part of the inclined surface of the A-frame 4. The suction cup 3 of the loading device 2 breaks the vacuum, and the air between the glass and spacer paper is expelled. The bottom surface of the glass and spacer paper contacts the bottom surface of the A-frame 4, and the side surface of the glass and spacer paper contacts the inclined surface of the A-frame 4. After placement is completed, the loading device 2 moves at a first speed from the return position to the waiting position. The clamping device 6 on the A-frame 4 clamps the glass placed on its inclined surface.

[0026] The loading device 2 automatically stacks the glass into A-frame 4. The trajectory positions of the cyclic process include: waiting position, search position, in position, vacuum position, and back position. The loading device 2 cycles through the motion trajectory positions designed in the program to realize the automatic stacking of glass.

[0027] This method involves using loading device 2 to move the glass and spacer paper along their trajectory, and changing the vacuum position during the stacking process of the glass and spacer paper by loading device 2. This breaks the vacuum when the glass is at a certain angle to the inclined surface of A-frame 4. The glass falls under its own weight and presses against the inclined surface of A-frame 4, expelling the air between the glass and the spacer paper, as well as between the glass and the inclined surface of A-frame 4. The trajectory position of the glass and spacer paper moved by loading device 2 includes: 1. Waiting position: After loading device 2 clamps the spacer paper and adsorbs the glass, suction cup bracket 1 remains perpendicular to the ground. The spacer paper naturally droops and flattens due to its own weight, expelling air between the spacer paper and the glass, causing the glass and spacer paper to adhere together. Loading device 2 decelerates to 30% and moves to the search position. 2. Search position: The glass enters the A-frame 4, with the distance between the glass and the bottom surface of the A-frame 4 being 3mm-5mm. This distance is controlled at 3mm-5mm because the flatness and height difference of the bottom surface of the A-frame 4 are approximately 2mm. Within this height range, the glass is guaranteed not to collide with the bottom surface of the A-frame 4, while also reducing the impact force during the glass's fall and minimizing the relative sway between the glass and the spacer paper. Loading device 2 decelerates to 5%-10% and moves to the positioning position. 3. Positioning position: The glass is in the positioning position. According to current mainstream designs, this position is also a vacuum position. Loading device 2's suction cup 3 breaks the vacuum, and the glass is loaded into the A-frame 4. At this position, suction cup 3 breaks the vacuum, squeezing air into the glass and spacer paper. This results in significant relative movement between the glass and spacer paper, causing friction and contact between the glass panes, potentially leading to scratches or breakage. 4. Vacuum Position: Therefore, the vacuum position is optimized to create a 2° angle between the glass and the upper surface of the A-frame 4. This angle is not fixed and depends on the glass characteristics and the stiffness of the spacer paper. Different angles can be used depending on the process adjustments. At this angled position, suction cup 3 of loading device 2 breaks the vacuum, expelling air during the glass and spacer paper adhesion and pressing process, reducing relative movement between the glass and spacer paper, thus minimizing scratches and breakage. 5. Return Position: After the glass is successfully placed stably, loading device 2 moves to the return position. Upon reaching the return position, the distance between the bottom of loading device 2 and the bottom surface of A-frame 4 is 30mm, gradually increasing until it returns to the waiting position without interference, entering the next automatic glass stacking cycle.

[0028] The above-mentioned design of the movement and motion trajectory of the loading equipment 2 reduces the relative sway between the glass and the spacer paper, thereby reducing the possibility of contact between adjacent glass during the loading process onto the A-frame 4 and reducing the relative friction between the glass and the spacer paper. This reduces the occurrence of glass quality defects such as scratches and breakage, thus improving glass quality.

[0029] The first speed is greater than the second speed, the second speed is greater than the third speed, the second speed is less than 30% of the first speed, and the third speed is 5%-10% of the first speed. When the loading device 2 maintains the gap between the glass and the bottom surface of the A-frame 4 at the second speed and simultaneously drives the glass and spacer paper into the area of ​​the A-frame 4, the distance between the bottom of the glass and the bottom surface of the A-frame 4 is 3mm-5mm. When the loading device 2 drives the glass and spacer paper to the vacuum position, it keeps the glass and spacer paper at a 2° angle to the upper part of the inclined surface of the A-frame 4.

[0030] By reducing the speed of the loading device 2 at the waiting position and utilizing the weight of the spacer paper to naturally flatten it, the glass is ensured to adhere to the spacer paper. At the search position, the optimal glass drop height and distance (3mm-5mm) are found to reduce the impact force of the glass falling onto the bottom surface of the A-frame 4 and to reduce the relative sway between the glass and the spacer paper. In the vacuum position, the suction cup 3 of the loading device 2, positioned at a 2° angle above the inclined surface of the A-frame 4, breaks the vacuum. During the glass insertion process, air is expelled, reducing the relative sway between the glass and the spacer paper and minimizing scratches and breakage. This achieves the goal of improving the quality of the carrier glass products and increasing the product yield.

[0031] When the glass is in the waiting position, the spacer paper hangs down naturally under its own weight, expelling the air between the spacer paper and the glass. Figure 2 As shown, the glass and spacer paper are attached together, and the robot speed is reduced to 30%. The purpose of reducing the speed to 30% is to reduce the amount of swaying of the glass during movement and to reduce the entry of air between the spacer paper and the glass. The speed can also be lower, and the speed setting can be optimized according to the size, thickness and characteristics of the glass.

[0032] Loading device 2 moves the glass to the search position at 30% speed, such as Figure 3 As shown, the distance between the glass and the bottom surface of the A-frame 4 is 3mm-5mm. The flatness and height difference of the bottom surface of the A-frame 4 are approximately 2mm. Therefore, within this height range, the glass can be guaranteed not to collide with the bottom surface of the A-frame 4, and the relative sway after the glass falls can be reduced. The loading device 2 moves to the positioning position after its movement speed is reduced to 5%-10%.

[0033] Loading device 2 moves the glass to the positioning position at a speed of 5%-10%. The distance between the glass and the inclined surface of A-frame 4 is calculated according to the formula (glass width * sin(2°) (angle) / 2). The angle is not a fixed value and is related to the characteristics of the glass and the stiffness of the spacer paper.

[0034] In the vacuum position, the glass and the inclined surface of the A-frame 4 are at an angle. The suction cup 3 of the loading device 2 breaks the vacuum, and the glass and spacer paper are attached and pressed in. Air in the gap between the glass and the inclined surface is expelled, and the glass falls smoothly into the A-frame 4. Figure 5 and Figure 6 As shown. After the glass is successfully placed, the loading device 2 moves to the return position, and returns to the waiting position without interference, to begin the next automatic glass stacking cycle.

[0035] According to the method of the present invention, glass is automatically stacked and cycled, such as Figure 1As shown, during the process of loading the glass into the A-frame 4, the air between the glass and the spacer paper is expelled, reducing the possibility of contact between adjacent glass pieces during loading into the A-frame 4 and reducing the relative friction between the glass and the spacer paper. This reduces the occurrence of glass quality defects such as scratches and breakage, thereby improving not only the glass quality but also the product yield.

[0036] Please refer to Figures 7-9 In one embodiment, an apparatus for reducing scratches caused by glass loading is provided, comprising: a glass carrying device 5, including two A-frames 4 symmetrically placed on the left and right, the left and right sides of the glass carrying device 5 being inclined surfaces formed by the sides of the A-frames 4, the inclined surfaces on the left and right sides being used to carry a number of pieces of glass; and a pressing device 6, disposed on the glass carrying device 5, comprising two sets of identical structures, the pressing device 6 being disposed corresponding to the A-frames 4, each set of pressing devices 6 pressing the glass carried by each A-frame 4.

[0037] Each set of clamping devices 6 is located at a different height. Each set of clamping devices 6 includes two devices symmetrically arranged front and back. Each clamping device 6 includes a cylinder 13 fixedly mounted on the A-frame 4. The telescopic end of the cylinder 13 is telescopically mounted on the side of the A-frame 4 that carries the glass. A clamping block 7 is movably mounted on the inclined surface of the A-frame 4. The clamping block 7 is movably connected to the telescopic end of the cylinder 13.

[0038] A connecting plate 8 is fixedly installed on the inclined surface of the clamping block 7 away from the A-frame 4. A first connecting rod 9 is hinged to the middle of the connecting plate 8. A second connecting rod 10 is hinged to the end of the connecting plate 8 away from the clamping block 7. A third connecting rod 11 is hinged to the middle of the first connecting rod 9. A support block 12 is fixedly installed on the A-frame 4. The first connecting rod 9 is installed on the same side as the clamping block 7. The end of the first connecting rod 9 away from the connecting plate 8 is hinged to the support block 12. The ends of the second connecting rod 10 and the third connecting rod 11 away from the first connecting rod 9 are both hinged to the movable end of the cylinder 13.

[0039] The first link 9, the second link 10, and the third link 11 each include two symmetrically arranged pieces. The support block 12 is convex in shape. The two pieces of the first link 9 are located on the upper and lower sides of the convex part of the support block 12, respectively. The bottom of the two pieces of the second link 10 and the bottom of the third link 11 are hinged to the movable end of the cylinder 13. The top of the two pieces of the third link 11 are hinged to the middle of the upper and lower pieces of the second link 10. The top of the two pieces of the second link 10 are hinged to the upper and lower sides of the connecting plate 8, respectively.

[0040] The side opposite to the clamping block 7 and the A-frame 4 is an inclined plane, and the inclined plane of the clamping block 7 and the inclined plane of the A-frame 4 are parallel to each other.

[0041] The glass is transported cyclically to the A-frame 4 of the carrying device via the loading equipment 2. Two symmetrically placed A-frames 4 form the carrying device. Both the left and right sides of the carrying device can support the glass. After several pieces of glass are stacked on the inclined surface of the A-frame 4, when the carrying device is moved, the pressing device 6 presses the glass onto the loading equipment 2. The pressing device 6 presses and limits the glass loaded on the A-frame 4 to prevent relative friction caused by the movement of several pieces of glass.

[0042] When the clamping device 6 is working, the telescopic end of the cylinder 13 extends towards the side closer to the inclined surface of the A-frame 4. Since the second connecting rod 10 and the third connecting rod 11 are both hinged to the movable end of the cylinder 13, the extension of the telescopic end of the cylinder 13 drives the third connecting rod 11 and the second connecting rod 10 to rotate counterclockwise. During the rotation of the third connecting rod 11, it pushes the end of the first connecting rod 9 away from the support block 12 to rotate counterclockwise. The ends of the first connecting rod 9 and the second connecting rod 10 connected to the connecting plate 8 move towards the inclined surface of the A-frame 4 under the pushing action of the extension of the telescopic end of the cylinder 13, pushing the connecting plate 8 towards the inclined surface of the A-frame 4. The connecting plate 8 is located on the inclined surface of the A-frame 4 and is parallel to the inclined surface of the A-frame 4. As the movable end of the cylinder 13 continues to push, the clamping block 7, which is fixedly connected to the connecting plate 8, presses several pieces of glass onto the side of the A-frame 4, clamping and limiting the glass to avoid relative friction caused by the relative movement of several pieces of glass.

[0043] When loading glass into loading device 2, clamping device 6 performs an action opposite to the clamping process. The telescopic end of cylinder 13 retracts to the side away from the inclined surface of A-frame 4. Since the second link 10 and the third link 11 are both hinged to the movable end of cylinder 13, the extension of the telescopic end of cylinder 13 drives the third link 11 and the second link 10 to rotate clockwise. During the rotation of the third link 11, it pushes the end of the first link 9 away from the support block 12 to rotate clockwise. The ends of the first link 9 and the second link 10 connected to the connecting plate 8 move away from the inclined surface of A-frame 4 under the pulling action of the retraction of the telescopic end of cylinder 13, pulling the connecting plate 8 away from the inclined surface of A-frame 4, and gradually moving it to a position perpendicular to the inclined surface of A-frame 4. As the movable end of cylinder 13 continues to retract, the clamping block 7 moves away from the glass placed on the inclined surface of A-frame 4, and the glass can wait for the next operation such as removal by the operator.

[0044] In one embodiment, a computer device is provided, which may be a server. The computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database stores static and dynamic information data. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements the steps in the above method embodiment.

[0045] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media used in the embodiments provided by this invention can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0046] It should be noted that the above description is merely some embodiments of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

[0047] Furthermore, while the operations are described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or in a sequential order. Multitasking and parallel processing may be advantageous in certain environments. Similarly, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of this application. Certain features described in the context of individual embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented individually or in any suitable sub-combination in multiple embodiments.

[0048] Although the subject matter has been described using language specific to structural features and / or methodological logic, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are merely illustrative examples of implementing the claims.

Claims

1. A method of reducing the occurrence of scratches from glass loading, characterized by, The loading equipment transports the glass to the A-frame, passing through waiting positions, search positions, positioning positions, vacuum positions, and return positions. This method includes the following steps: The loading device moves to the waiting position at a first speed, picks up the spacer paper and adsorbs the glass. The spacer paper naturally droops and flattens due to its own weight, the air between the spacer paper and the glass is expelled, and the glass and the spacer paper stick together. The loading device then moves the glass and the spacer paper to the search position at a second speed. The loading equipment maintains a gap between the bottom of the glass and the bottom surface of the A-frame at a second speed and simultaneously drives the glass and spacer paper into the A-frame area. The loading equipment then drives the glass and spacer paper at a third speed to move from the positioning position to the vacuum position. The loading equipment moves the glass and spacer paper to the vacuum position, making the glass and spacer paper form an angle with the upper part of the A-frame slope. The suction cup of the loading equipment breaks the vacuum, and the air between the glass and spacer paper is expelled. The bottom surface of the glass and spacer paper contacts the bottom surface of the A-frame. After placement is completed, the loading equipment moves to the waiting position at the first speed after passing the return position. The clamping device on the A-frame clamps the glass placed on its inclined surface; Two glass-supporting devices are placed symmetrically on the left and right sides of the A-frame. The left and right sides of the glass-supporting devices are inclined surfaces formed by the sides of the A-frame, and the inclined surfaces on the left and right sides are used to support several pieces of glass. A clamping device is installed on the glass support device, comprising two sets of identical structures. The clamping devices are configured corresponding to the A-frames, and each set of clamping devices clamps the glass supported by each A-frame.

2. The method of reducing glass loading-induced scratching according to claim 1, wherein, The first speed is greater than the second speed, the second speed is greater than the third speed, the second speed is less than 30% of the first speed, and the third speed is 5%-10% of the first speed.

3. The method of reducing glass loading-induced scratching according to claim 2, wherein, When the loading device maintains the gap between the glass and the bottom surface of the A-frame at the second speed and simultaneously drives the glass and spacer paper into the area of ​​the A-frame, the distance between the bottom of the glass and the bottom surface of the A-frame is 3mm-5mm. The loading device drives the glass and spacer paper to maintain a 2° angle with the upper part of the inclined surface of the A-frame at the vacuum position.

4. The method of reducing glass loading-induced scratching according to claim 3, wherein, The height of each set of clamping devices is different. Each set of clamping devices includes two devices symmetrically arranged front and back. Each clamping device includes a cylinder fixedly mounted on an A-frame. The telescopic end of the cylinder is telescopically mounted on the side of the A-frame. A clamping block is movably mounted on the inclined surface of the A-frame. The clamping block is movably connected to the telescopic end of the cylinder.

5. The method of reducing glass loading-induced scratching according to claim 4, wherein A connecting plate is fixedly installed on the inclined surface of the clamping block away from the A-frame. A first connecting rod is hinged to the middle of the connecting plate. A second connecting rod is hinged to the end of the connecting plate away from the clamping block. A third connecting rod is hinged to the middle of the first connecting rod. A support block is fixedly installed on the A-frame. The first connecting rod is located on the same side as the clamping block. The end of the first connecting rod away from the connecting plate is hinged to the support block. The ends of the second connecting rod away from the connecting plate and the third connecting rod away from the first connecting rod are both hinged to the movable end of the cylinder.

6. The method of reducing glass loading-induced scratching according to claim 5, wherein, The first, second, and third connecting rods each include two symmetrically arranged pieces. The support block is convex in shape. The two pieces of the first connecting rod are located on the upper and lower sides of the convex part of the support block, respectively. The bottom of the two pieces of the second connecting rod and the bottom of the third connecting rod are hinged to the movable end of the cylinder. The top of the two pieces of the third connecting rod are hinged to the middle of the upper and lower pieces of the second connecting rod. The top of the two pieces of the second connecting rod are hinged to the upper and lower sides of the connecting plate, respectively.

7. The method of reducing glass loading-induced scratching according to claim 6, wherein, The clamping block has an inclined surface on the side opposite to the A-frame, and the inclined surface of the clamping block and the inclined surface of the A-frame are parallel to each other.

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