Automatic loading and unloading equipment for glass sheets

Abstract

The present invention relates to the technical field of glass plate coating, and discloses automatic loading and unloading equipment for glass plates, including a glass plate feeding section, a loading and unloading fixture section, a pallet conveyor line and a glass plate discharging section. The loading and unloading fixture section includes a plate loading and unloading machine, a plate joining conveyor line, a positioning and unlocking machine, a fixture loading robot, a plate loading conveyor line, a fixture unloading robot and a plate dismantling conveyor line. The glass plate feeding end of the plate loading and unloading machine is connected to one end of the pallet conveyor line through the loading and transferring robot, and the fixture feeding end of the plate loading and unloading machine is connected to The disassembly conveyor line is connected, the fixture discharge end of the plate loading and unloading machine is connected to the plate assembly conveyor line, the glass plate discharge end of the plate loading and unloading machine is connected to the other end of the pallet conveyor line through the unloading and transferring robot, the plate assembly conveyor line is connected to one end of the upper plate conveyor line through the fixture unloading robot, and the other end of the upper plate conveyor line is connected to the plate assembly conveyor line through the fixture loading robot. The positioning and unlocking machines are respectively installed on the plate assembly conveyor line and the disassembly conveyor line, and the two ends of the pallet conveyor line are respectively connected to the glass plate feeding section and the glass plate discharging section. The present invention realizes automatic loading and unloading of glass plates, automatic clamping and unclamping of glass plates, automatic loading and unloading of glass plate clamps, and automatic screening of glass plates before and after coating, which saves labor costs, reduces labor intensity, improves production efficiency, and reduces production costs.

Description

Technical Field

[0001] The invention relates to the technical field of glass plate coating, in particular to automatic loading and unloading equipment for glass plates. Background Art

[0002] In the prior art, the coating of glass plates requires loading the glass plates into a fixture, then clamping the fixture onto a trolley, and transporting the glass plates to a coating machine for coating. The clamping of the glass plates and the loading of the fixture onto the trolley are all done manually, which is labor-intensive, inefficient, and has high production costs. Currently, there is a lack of equipment that can automatically load and unload glass plates. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies of the above prior art and provide an automatic loading and unloading device for glass plates.

[0004] The object of the present invention is achieved through the following technical scheme: the automatic loading and unloading equipment of glass plates includes a glass plate feeding section, a loading and unloading fixture section, a pallet conveyor line and a glass plate discharging section; the loading and unloading fixture section includes a plate loading and unloading machine, a plate closing conveyor line, a positioning and unlocking machine, a fixture loading robot, a plate loading conveyor line, a fixture unloading robot and a plate dismantling conveyor line; the glass plate feeding end of the plate loading and unloading machine is connected to one end of the pallet conveyor line through a loading and transferring robot; the fixture feeding end of the plate loading and unloading machine is connected to the plate dismantling conveyor line; The clamp discharge end of the loading and unloading machine is connected to the combined plate conveyor line, the glass plate discharge end of the loading and unloading machine is connected to the other end of the pallet conveyor line through a unloading and transferring robot, the panel removal conveyor line is connected to one end of the upper plate conveyor line through a clamp unloading robot, the other end of the upper plate conveyor line is connected to the combined plate conveyor line through a clamp loading robot, the positioning and unlocking machines are respectively installed on the combined plate conveyor line and the panel removal conveyor line, and the two ends of the pallet conveyor line are respectively connected to the glass plate feeding section and the glass plate discharging section.

[0005] A more optimal option also includes a stacking and splitting machine, which is installed on the board-closing conveyor line and the board-removing conveyor line respectively.

[0006] A better choice, the stacking and splitting machine includes a stacking and splitting base, a plug-in plate structure, a middle lifting structure and a side lifting structure, the stacking and splitting base are respectively installed on the combined plate conveyor line and the dismantling plate conveyor line, the middle lifting structure is installed in the middle of the stacking and splitting base, the plug-in plate structure is installed at both ends of the stacking and splitting base, the side lifting structure is located between the middle lifting structure and the side lifting structure, the lifting height of the middle lifting structure is greater than the height of the plug-in plate position of the plug-in plate structure, and the height of the plug-in plate position is greater than the lifting height of the side lifting structure.

[0007] A more preferred option is that the fixture loading robot or the fixture unloading robot includes a manipulator and a clamping structure, and the clamping structure is connected to the manipulator.

[0008] A better choice, the clamping structure includes a clamping base plate, a synchronous shaft, a synchronous wheel, a synchronous belt, a clamping claw, a belt clamp, a clamping cylinder, a push plate, a pushing cylinder, a second connecting piece and a rotating shaft fixing seat, the clamping base plate is connected to the manipulator through the second connecting piece, the synchronous shaft is installed at both ends of the clamping base plate through the rotating shaft fixing seat, the synchronous wheel is rotatably installed on the synchronous shaft, the synchronous wheels are connected by the synchronous belt, the clamping claw is slidably installed at both ends of the clamping base plate, the clamping claw is connected to the synchronous belt through the belt clamp, the clamping cylinder is connected to the clamping claw, the clamping cylinder is installed on the clamping base plate, and the push plate is installed on both sides of the clamping base plate through the pushing cylinder.

[0009] A better choice is that the positioning and unlocking machine includes a second cylinder fixing plate, a second lifting cylinder, a second guide rod base plate, a second guide rod, a second connecting rod, a cylinder lifting plate, a driven lifting plate, a rotating cylinder and a pushing wheel. The second cylinder fixing plate is respectively installed on the combined plate conveyor line and the disassembled plate conveyor line. The second guide rod base plate is respectively installed on both sides of the second cylinder fixing plate. The cylinder lifting plate is installed on the second cylinder fixing plate through the second lifting cylinder. The two ends of the cylinder lifting plate are respectively connected to the driven lifting plate through the second connecting rod. The second guide rod is slidably installed on the second guide rod base plate. The driven lifting plate is connected to the second guide rod. The rotating cylinder is installed on both ends of the second guide rod base plate. The pushing wheel is installed on the driven lifting plate.

[0010] A better choice is that the loading and unloading machine includes a loading and unloading base, a clamp conveyor line and two clamping and unclamping mechanisms. The clamp conveyor line is installed on the loading and unloading base. The two clamping and unclamping mechanisms are connected to the clamp conveyor line. The two clamping and unclamping mechanisms are respectively connected to the loading and transferring robot and the unloading and transferring robot. The two ends of the clamp conveyor line are respectively connected to the panel assembly conveyor line and the panel removal conveyor line.

[0011] A better choice, the clamping and unclamping mechanism includes an XYZ coordinate system, a secondary positioning structure, a lower plate lifting structure and a lower plate blocking structure, the secondary positioning structure is connected to the loading and transferring robot or the unloading and transferring robot, the secondary positioning structure is connected to the fixture conveyor line through the XYZ coordinate system, the lower plate lifting structure is installed below the fixture conveyor line, the lower plate lifting structure corresponds to the XYZ coordinate system, and the lower plate blocking structure is located on the side of the lower plate blocking structure away from the plate dismantling conveyor line.

[0012] A better choice is that the glass plate feeding section includes a plate feeding line, a loading elevator, a first plate inspection machine, a first longitudinal conveying line and a first plate NG line. The plate feeding line, the loading elevator, the first longitudinal conveying line and one end of the pallet conveying line are connected in sequence, the first plate inspection machine is installed on the first longitudinal conveying line, and the first plate NG line is connected to the middle of the pallet conveying line.

[0013] A better choice is that the glass plate unloading section includes a second longitudinal conveyor line, a second plate detector, a material unloading elevator, a pallet unloading line and a second plate NG line, the other end of the pallet conveyor line is connected to one end of the second longitudinal conveyor line, the other end of the second longitudinal conveyor line is respectively connected to the material unloading elevator and the second plate NG line, the second plate detector is installed on the second longitudinal conveyor line, and the material unloading elevator is connected to the pallet unloading line.

[0014] The present invention has the following advantages and beneficial effects compared with the prior art:

[0015] The present invention realizes automatic loading and unloading of glass plates, automatic clamping and unclamping of glass plates, automatic loading and unloading of glass plate clamps through a glass plate feeding section, a loading and unloading fixture section, a pallet conveyor line, and a glass plate discharging section, and automatically screens glass plates before and after coating, thereby saving labor costs, reducing labor intensity, improving production efficiency, and reducing production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the automatic loading and unloading equipment of the glass plate of the present invention;

[0017] Figure 2 Schematic diagram of a glass plate clamp of the automatic loading and unloading equipment for glass plates of the present invention;

[0018] Figure 3 is a schematic diagram of the interior of a glass plate clamp of the automatic loading and unloading equipment for glass plates of the present invention;

[0019] Figure 4 It is an exploded view of the self-locking structure of the automatic loading and unloading equipment of the glass plate of the present invention;

[0020] Figure 5 It is a schematic diagram of the unloading plate of the automatic loading and unloading equipment of the glass plate of the present invention;

[0021] Figure 6 It is a schematic diagram of a fixture loading robot or a fixture unloading robot of the automatic loading and unloading equipment for glass plates of the present invention;

[0022] Figure 7is a schematic diagram of a clamping structure of an automatic loading and unloading device for glass plates of the present invention;

[0023] Figure 8 is a schematic diagram of a clamping structure of an automatic loading and unloading device for glass plates of the present invention;

[0024] Fig. 9 It is a schematic diagram of a positioning and unlocking machine of the automatic loading and unloading equipment for glass plates of the present invention;

[0025] Fig.10 It is a schematic diagram of a positioning and unlocking machine of the automatic loading and unloading equipment for glass plates of the present invention;

[0026] Fig.11 It is a schematic diagram of a plate loading and unloading machine of the automatic loading and unloading equipment for glass plates of the present invention;

[0027] Fig.12 It is a schematic diagram of an XYZ coordinate system of an automatic loading and unloading device for glass plates of the present invention;

[0028] Fig.13 It is a schematic diagram of the secondary positioning structure of the automatic loading and unloading equipment for glass plates of the present invention;

[0029] Fig.14 It is a schematic diagram of the secondary positioning structure of the automatic loading and unloading equipment for glass plates of the present invention;

[0030] Fig.15 It is a schematic diagram of the lower plate lifting structure of the automatic loading and unloading equipment for glass plates of the present invention;

[0031] Fig.16 It is a schematic diagram of the lower plate lifting structure of the automatic loading and unloading equipment for glass plates of the present invention;

[0032] Fig.17 It is a schematic diagram of a fixture conveying line of an automatic loading and unloading device for glass plates of the present invention;

[0033] Fig.18 Schematic diagram of the lower plate blocking structure of the automatic loading and unloading equipment for glass plates of the present invention;

[0034] Fig.19 It is a schematic diagram of a stacking and splitting machine of the automatic loading and unloading equipment for glass plates of the present invention;

[0035] Fig. 20 It is a schematic diagram of the plugging plate structure of the automatic loading and unloading equipment for glass plates of the present invention;

[0036] Fig.21 It is a schematic diagram of the middle lifting structure of the automatic loading and unloading equipment for glass plates of the present invention;

[0037] Fig. 22It is a schematic diagram of a stacking and splitting base of the automatic loading and unloading equipment for glass plates of the present invention;

[0038] Fig.23 It is a schematic diagram of the side lifting structure of the automatic loading and unloading equipment for glass plates of the present invention;

[0039] The markings of the components in the attached drawings are as follows: 1-plate feeding line; 2-feeding elevator; 3-first plate inspection machine; 4-first longitudinal conveying line; 5-tray conveying line; 6-feeding and transferring robot; 7-plate loading and unloading machine; 71-plate loading and unloading base; 72-XYZ coordinate system; 721-Y axis linear module; 722-X axis crossbeam; 723-X axis linear module; 724-Z axis linear module; 73-suction cup structure; 731-first connecting piece; 732-downward pressure cylinder; 733-suction nozzle fixing plate; 734-suction nozzle; 74-secondary positioning structure; 741-glass bearing plate; 742-first limit strip; 743-second limit strip; 744-oblique push block; 745-push cylinder; 746-induction sensor; 7 5-lower plate lifting structure; 751-first guide rod bottom plate; 752-first guide rod; 753-first cylinder fixed plate; 754-first lifting cylinder; 755-first lifting plate; 756-first connecting rod; 757-second lifting plate; 76-clamp conveyor line; 761-conveyor line motor; 762-conveyor belt; 763-drive shaft; 764-conveyor line chassis; 77-lower plate blocking structure; 771-cylinder bracket; 772-telescopic cylinder; 773-bracket guide rod; 774-elastic member; 775-blocking bracket; 776-fixed shaft; 777-steering block; 778-pulley; 8-combined plate conveyor line; 9-positioning unlocking machine; 901-second cylinder fixed plate; 902-second lifting cylinder; 903-gas Cylinder lifting plate; 904-second guide rod; 905-second connecting rod; 906-driven lifting plate; 907-rotating cylinder; 908-pushing wheel; 909-second guide rod bottom plate; 10-stacking splitter; 101-stacking split base; 1011-stacking split bottom plate; 1012-stacking split branch plate; 1013-stacking split load-bearing plate; 102-insertion plate structure; 1021-side baffle; 1022-insertion plate bracket; 1023-bearing insertion plate; 1024-first slide rail; 1025-insertion plate cylinder; 1026-first slider; 103-middle lifting structure; 1031-middle lifting plate; 1032-third guide rod; 1033-shaft sleeve; 1034-connecting block; 1035-middle lifting gas Cylinder; 1036-cylinder base; 104-side lifting structure; 1041-side top plate; 1042-side guide rod; 1043-guide rod fixing seat; 1044-top plate fixing block; 1045-third lifting cylinder; 11-clamp loading robot; 12-upper plate conveyor line; 13-clamp unloading robot; 131-manipulator; 132-clamping structure; 132a-clamping bottom plate; 132b-synchronous shaft; 132c-synchronous wheel; 132d-synchronous belt; 132e-clamping claw; 132f-second slider; 132g-second slide rail; 132h-belt clamp; 132i-clamping cylinder; 132j-push plate; 132k-pushing cylinder; 132l-second connecting piece; 132m-rotating shaft fixing seat;14-plate dismantling conveyor line; 15-material unloading and transfer robot; 16-second longitudinal conveyor line; 17-second plate inspection machine; 18-material unloading elevator; 19-tray unloading line; 20-second plate NG line; 21-first plate NG line; 22-glass plate clamp; 221-lower plate; 2211-unlocking hole; 2212-first coating hole; 222-upper plate; 2221-second coating hole; 223-self-locking structure; 2231-protective cover; 2232-locking buckle; 2233-spring cover; 2234-locking hook; 2235-spring fixing seat; 2236-reset spring; 2237-fixing frame; 224-clamping limit block; 225-support shaft; 226-elastic pad; 23-glass plate. ; DETAILED DESCRIPTION

[0040] The purpose of the present invention is further described in detail below with reference to the accompanying drawings and specific examples. The examples cannot be described one by one here, but the implementation methods of the present invention are not therefore limited to the following examples.

[0041] like Figure 1As shown, the automatic loading and unloading equipment for glass plates includes a glass plate feeding section, a loading and unloading fixture section, a pallet conveyor line 5, and a glass plate unloading section. The glass plate feeding section includes a plate feeding line 1, a loading and unloading elevator 2, a first plate detector 3, a first longitudinal conveyor line 4, and a first plate NG line 21. The loading and unloading fixture section includes a plate loading and unloading machine 7, a plate combination conveyor line 8, two positioning and unlocking machines 9, two stacking and splitting machines 10, a fixture loading robot 11, a plate loading conveyor line 12, a fixture unloading robot 13, and a plate removal conveyor line 14. The glass plate unloading section includes a second longitudinal conveyor line 16, a second plate detector 17, an unloading elevator 18, a pallet unloading line 19, and a second plate NG line 20. The glass plate feeding end of the plate loading and unloading machine 7 is connected to the left end of the pallet conveyor line 5 through the loading and transferring robot 6, the fixture feeding end of the plate loading and unloading machine 7 is connected to the plate dismantling conveyor line 14, the fixture discharging end of the plate loading and unloading machine 7 is connected to the plate closing conveyor line 8, and the glass plate discharging end of the plate loading and unloading machine 7 is connected to the right end of the pallet conveyor line 5 through the unloading and transferring robot 15. The plate closing conveyor line 8 is connected to the left end of the upper plate conveyor line 12 through the fixture loading robot 11, and the right end of the upper plate conveyor line 12 is connected to the plate dismantling conveyor line 14 through the fixture unloading robot 13. Two positioning and unlocking machines 9 are respectively installed on the plate closing conveyor line 8 and the plate dismantling conveyor line 14, the fixture loading robot 11 corresponds to the positioning and unlocking machine 9 on the plate closing conveyor line 8, and the fixture unloading robot 13 corresponds to the positioning and unlocking machine 9 on the plate dismantling conveyor line 14. The two stacking and splitting machines 10 are respectively installed on the outside of the two positioning and unlocking machines 9, that is, at the left end of the combined plate conveyor line 8 and the right end of the disassembly plate conveyor line 14. The two ends of the pallet conveyor line 5 are respectively connected to the glass plate feeding section and the glass plate discharging section. The left end of the pallet conveyor line 5 is connected to the rear end of the first longitudinal conveyor line 4, the front end of the first longitudinal conveyor line 4 is connected to the discharging end of the loading elevator 2, and the first plate inspection machine 3 is installed on the first longitudinal conveyor line 4. The feeding end of the loading elevator 2 is connected to the plate feeding line 1. The middle part of the pallet conveyor line 5 is connected to the first plate NG line 21. The right end of the pallet conveyor line 5 is connected to the rear end of the second longitudinal conveyor line 16, and the front end of the second longitudinal conveyor line 16 is respectively connected to the second plate NG line 20 and the feeding end of the unloading elevator 18. The discharging end of the unloading elevator 18 is connected to the pallet discharging line 19.

[0042] The glass plate feeding section is used to perform appearance inspection and transfer of the glass plate 23 before coating; the plate feeding line 1 is used to convey the glass plate before coating to the loading elevator 2. The loading elevator 2 can be purchased in the existing market, and conveys the pallet loaded with the glass plate 23 before coating to the first longitudinal conveying line 4. The first plate inspection machine 3 can be purchased in the existing market, and performs appearance inspection on the glass plate 23 before coating. The first longitudinal conveying line 4 is used to input each pallet loaded with the glass plate 23 before coating to the pallet conveying line 5. The first plate NG line 21 is used to discharge the unqualified glass plate before coating. The loading and unloading fixture section is used to load or unload the single glass plate 23 from the glass plate fixture 22, and stack or split the glass plate fixture 22. The plate loading and unloading machine 7 is used to load the glass plate 23 before coating onto the lower plate 221 and unload the glass plate after coating from the lower plate 221. The plate-closing conveyor line 8 is used to transport the glass plate clamps 22 loaded with the glass plate before coating and the empty glass plate clamps 22. The positioning and unlocking machine 9 is used to position the glass plate clamps 22 and unlock the glass plate clamps 22. The stacking and splitting machine 10 is used to stack and split the glass plate clamps 22. The clamp loading robot 11 is used to install the upper plate 222 on the lower plate 221, and transfer the glass plate clamps 22 loaded with the glass plate 23 before coating into the coating machine. The upper plate conveyor line 12 is used to transport the upper plate 222. The clamp unloading robot 13 is used to transfer the upper plate 222 of the glass plate clamp 22 from the plate disassembly conveyor line 14 to the upper plate conveyor line 12, and transfer the glass plate clamps 22 loaded with the glass plate 23 after coating from the coating machine to the plate disassembly conveyor line 14. The panel disassembly conveyor line 14 is used to convey the lower panel 221 with the coated glass panel 23 to the panel loading and unloading machine 7, and to transfer the empty glass panel fixture 22 to the stacking and splitting machine 10. The pallet conveyor line 5 is used to convey the pallet. The glass panel unloading section is used to perform appearance inspection on the coated glass panel 23, and to classify and transport the coated glass panel 23. The second longitudinal conveyor line 16 is used to convey the pallet with the coated glass panel 23 to the unloading elevator 18. The second panel inspection machine 17 can be purchased in the existing market and is used to inspect the appearance of the coated glass panel 23. The unloading elevator 18 can be purchased in the existing market and lowers the pallet with the coated qualified glass panel 23 to a certain height to facilitate the operator to carry it. The pallet unloading line 19 is used to convey the pallet with the coated qualified glass panel 23. The second panel NG line 20 is used to convey the pallet with the unqualified coated glass panel 23.

[0043] The working process of the automatic loading and unloading equipment for glass plates is as follows: the pallet with glass plates 23 is transported from the plate feeding line 1 to the loading elevator 2, and the loading elevator 2 transports the pallet with glass plates 23 to the first longitudinal conveying line 4, and the first plate inspection machine 3 performs appearance inspection on each tray of glass plates 23. The first longitudinal conveying line 4 transports the pallet with glass plates 23 to the pallet conveying line 5. The loading and transferring robot 6 transfers the qualified glass plates in the pallet to the loading and unloading machine 7 according to the inspection result of the first plate inspection machine 3. The pallet with unqualified glass plates 23 is retained in the first plate NG line 21, and the empty pallet continues to move to the right. The empty pallet is used to load the glass plates 23 after coating. The loading and unloading machine 7 repositions the qualified glass plates 23 and transfers them to the empty lower plate 221. The lower plate 221 with glass plates 23 is transported to the plywood conveying line 8. The lower plate 221 with the glass plate 23 is positioned by the positioning and unlocking machine 9, and the fixture loading robot 11 grabs the upper plate 222 on the upper plate conveyor line 12 and installs it on the lower plate 221. Under the push of the fixture loading robot 11, the upper plate 222 and the lower plate 221 are automatically locked. The fixture loading robot 11 transfers the glass plate fixture 22 with the glass plate 23 to the coating machine (which can be purchased on the existing market) for coating. After the glass plate 23 is coated by the coating machine, the glass plate fixture 22 loaded with the coated glass plate 23 is transferred from the coating machine to the positioning and unlocking machine 9 of the plate removal conveyor line 14 by the fixture unloading robot 13. The positioning and unlocking machine 9 positions the glass plate fixture 22 loaded with the coated glass plate 23 and unlocks the upper plate 222. The clamp unloading robot 13 transfers the upper plate 222 to the right end of the upper plate conveyor line 12, and the upper plate conveyor line 12 transfers the upper plate 222 to the left end of the upper plate conveyor line 12. The plate removal conveyor line 14 conveys the lower plate 221 loaded with the coated glass plate 23 to the loading and unloading machine 7. The loading and unloading machine 7 positions and lifts the lower plate 221, and the empty lower plate 221 is transferred to the loading station of the loading and unloading machine 7, waiting for the glass plate 23 to be clamped before coating. The pallet conveyor line 5 transfers the empty pallet to the right end of the pallet conveyor line 5, and the unloading and transferring robot 15 transfers the coated glass plate 23 to the empty pallet. The pallet filled with coated glass plates 23 is transferred to the second longitudinal conveyor line 16, and the coated glass plates 23 on the pallet are inspected for appearance by the second plate inspection machine 17. According to the detection result of the second plate inspection machine 17, the tray filled with coated glass plates 23 is transferred to the unloading elevator 18 or the second plate NG line 20. The unloading elevator 18 lowers the tray with the coated glass plates 23 and inputs it to the tray feeding line, and the tray with the uncoated glass plates 23 flows out from the second plate NG line 20. When the glass plate fixture 22 needs to be cleaned, the fixture loading robot 11 transfers the glass plate fixture 22 in the coating machine to the plate assembly conveyor line 8, and the fixture unloading robot 13 transfers the glass plate fixture 22 in the coating machine to the plate disassembly conveyor line 14.The plate-closing conveyor line 8 and the plate-removing conveyor line 14 convey the glass plate fixtures 22 to the two stacking and splitting machines 10, which stack the glass plate fixtures 22 to facilitate the transfer of the glass plate fixtures 22. The cleaned glass plate fixtures 22 are put in from the left end of the plate-closing conveyor line 8 and the right end of the plate-removing conveyor line 14, and the two stacking and splitting machines 10 split the cleaned glass plate fixtures 22 into single glass plate fixtures 22, which are conveyed to the positioning and unlocking machine 9 for positioning, and the fixture loading robot 11 and the fixture unloading robot 13 transfer the positioned single glass plate fixtures 22 to the coating machine for use.

[0044] like Figure 2-5 As shown, the glass plate clamp 22 includes an upper plate 222, a lower plate 221, eight self-locking structures 223, eight clamping limit blocks 224, four support shafts 225 and ninety-six elastic pads 226. The upper plate 222 is provided with fifteen second coating holes 2221, and the lower plate 221 is provided with fifteen first coating holes 2212. The first coating holes 2212 and the second coating holes 2221 are both arranged in a matrix, with three columns and five rows, and the first coating holes 2212 correspond to the second coating holes 2221 one by one. Four elastic pads 226 are installed between two adjacent first coating holes 2212, and the four elastic pads 226 are arranged in a square shape. A total of forty-eight elastic pads 226 are installed on the lower plate 221. Four elastic pads 226 are also provided between two adjacent second coating holes 2221, and the four elastic pads 226 are arranged in a square shape. A total of forty-eight elastic pads 226 are arranged on the upper plate 222. The upper plate 222 is connected to the four sides of the lower plate 221 through eight self-locking structures 223. Four support shafts 225 are provided on the lower plate 221 of the glass plate clamp 22. When two glass plate clamps 22 are stacked, the support shafts 225 of the lower glass plate clamp 22 support the upper glass plate clamp 22, so that a certain gap is formed between the two adjacent glass plate clamps 22, which facilitates the insertion of the plug-in structure 102 into the gap. Four clamping limit blocks 224 are installed on both sides of the upper plate 222, and the other four clamping limit blocks 224 are installed on both sides of the lower plate 221.

[0045] like Figure 4As shown, each self-locking structure 223 includes a protective cover plate 2231, a lock catch 2232, a spring fixing shaft 776, a spring cover plate 2233, a lock hook 2234, a spring fixing seat 2235, a reset spring 2236 and a fixing frame 2237. The protective cover plate 2231 is installed on the edge of the upper plate 222, and two protective cover plates 2231 are distributed on each side of the upper plate 222. The lock catch 2232 is installed at the bottom of the protective cover plate 2231. The spring fixing shaft 776 is installed on the spring fixing seat 2235, the lock hook 2234 is rotatably installed on the spring fixing shaft 776, and the reset spring 2236 is sleeved on the spring fixing shaft 776. One end of the reset spring 2236 is embedded in the limiting groove of the spring fixing seat 2235, and the spring cover plate 2233 covers the top of the limiting groove, that is, the spring cover plate 2233 is connected to the spring fixing seat 2235 by bolts, and limits one end of the reset spring 2236. The other end of the return spring 2236 abuts against the lock hook 2234. The spring fixing seat 2235 is installed on the lower plate 221 through the fixing frame 2237, and one end of the lock hook 2234 is located in the unlocking hole 2211 of the lower plate 221. The other end of the lock hook 2234 can be embedded in the lock buckle 2232.

[0046] The protective cover plate 2231 is used to protect and fix the lock buckle 2232. The lock buckle 2232 cooperates with the lock hook 2234 to achieve locking and unlocking between the upper plate 222 and the lower plate 221. The spring fixing shaft 776 is used to install the reset spring 2236 and the lock hook 2234. The spring cover plate 2233 is used to limit one end of the reset spring 2236 to prevent one end of the reset spring 2236 from escaping from the spring fixing seat 2235. The spring fixing seat 2235 is used to limit one end of the reset spring 2236. The reset spring 2236 recovers through its own elasticity to achieve automatic reset of the lock hook 2234. The fixing frame 2237 is used to install the spring fixing seat 2235 on the lower plate 221.

[0047] Description of the use process of the glass plate clamp 22: When the upper plate 222 and the lower plate 221 need to be locked, after the lower plate 221 is positioned by the positioning unlocking machine 9, the clamp loading robot 11 clamps the upper plate 222 from the upper plate conveyor line 12 and places the upper plate 222 vertically on the lower plate 221. Under the push of the clamp loading robot 11, the lock buckle 2232 pushes the lock hook 2234, and the lock hook 2234 rotates downward with the spring fixing shaft 776 as the center, and the reset spring 2236 accumulates force at the same time. When the lock hook 2234 rotates to a certain angle, the lock hook 2234 rotates downward because the horizontal length of the lock hook 2234 is too short, and the lock buckle 2232 cannot contact the lock hook 2234. Under the elastic force of the return spring 2236, the lock hook 2234 rotates upward and embeds into the lock buckle 2232, and the lock buckle 2232 hooks the lock buckle 2232, thereby realizing the connection between the upper plate 222 and the lower plate 221. When it is necessary to release the lock of the upper plate 222 and the lower plate 221, the glass plate clamp 22 is transported to the positioning and unlocking machine 9. The rotating cylinder 907 of the positioning and unlocking machine 9 positions the glass plate clamp 22, and the pushing wheel 908 of the positioning and unlocking machine 9 is lifted, and the pushing wheel 908 is inserted into the unlocking hole 2211 and presses the lock hook 2234. The locking hook 2234 is forced to rotate upward with the spring fixed shaft 776 as the center, and the horizontal length of the locking hook 2234 becomes smaller. When the lock buckle 2232 is separated from the limit of the locking hook 2234, the fixture unloading robot 13 grabs the upper plate 222 to separate from the lower plate 221, and transports the upper plate 222 to the upper plate conveyor line 12, thereby realizing the unlocking of the upper plate 222 and the lower plate 221.

[0048] like Figure 6-8As shown, the structure of the fixture loading robot 11 and the fixture unloading robot 13 is the same, which includes a manipulator 131 and a clamping structure 132, and the clamping structure 132 includes a clamping base plate 132a, two synchronous shafts 132b, two synchronous wheels 132c, a synchronous belt 132d, two clamps 132e, two belt clamps 142h, two clamping cylinders 132i, two push plates 132j, two push cylinders 132k, a second connecting member 132l, four second sliders 132f, four second slide rails 132g and two rotating shaft fixing seats 132m. The clamping base plate 132a is installed on the manipulator 131 through the second connecting member 132l. The two synchronous shafts 132b are fixedly installed at the left and right ends of the clamping base plate 132a through two rotating shafts. The two synchronous wheels 132c are rotatably installed on the two synchronous shafts 132b. The two clamping claws are connected to the four second sliders 132f respectively, and the four second sliders 132f are slidably connected to the four second slide rails 132g respectively. The four second slide rails 132g are installed at the left and right ends of the clamping base plate 132a by bolts. The two ends of the synchronous belt 132d pass through the two clamping claws 132e and are connected to the two synchronous wheels 132c respectively. The two clamping claws 132e are connected to the left and right ends of the synchronous belt 132d through two belt clamps 142h respectively. The two clamping cylinders 132i are installed on the outside of the two clamping claws 132e and installed on the clamping base plate 132a. The two clamping cylinders 132i are connected to the two clamping claws 132e respectively. The two pushing cylinders 132k are installed at the upper and lower ends of the clamping base plate 132a, and the telescopic rods of the two pushing cylinders 132k are connected to the two push plates 132j.

[0049] The manipulator 131 can be purchased in the existing market and is used to carry the glass plate clamp 22; the clamping structure 132 is used to clamp the glass plate clamp 22; the clamping base plate 132a acts as a bracket for installing various components. The synchronous shaft 132b is used to install the synchronous wheel 132c. The cooperation between the synchronous wheel 132c and the synchronous belt 132d realizes the synchronization of the two clamps 132e, and also ensures that the clamp 132e does not release the glass plate clamp 22 when one of the clamping cylinders 132i fails. The clamp 132e is used to clamp the glass plate clamp 22. The belt clamp 142h is used to connect the synchronous belt 132d and the clamp 132e. The clamping cylinder 132i provides power for the movement of the clamp 132e. The push plate 132j ​​is used to push the upper plate 222 onto the lower plate 221 to achieve the locking of the upper plate 222 and the lower plate 221. The push cylinder 132k provides power for the movement of the push plate 132j. The second connecting member 132l is used for connecting the clamping base plate 132a with the manipulator 131. The rotating shaft fixing seat 132m is used for installing the synchronous shaft 132b on the clamping base plate 132a.

[0050] Description of the process of the clamping structure 132 clamping the upper plate 222 or the lower plate 221: Two clamping limit blocks 224 are provided on both sides of the upper plate 222 and the lower plate 221. The manipulator 131 moves the clamping structure 132 to the top of the upper plate 222 or the lower plate 221, and the clamping cylinder 132i drives the two clamping claws 132e to approach each other, that is, the two clamping claws 132e approach the two sides of the upper plate 222 or the lower plate 221. The two clamping claws 132e simultaneously drive the synchronous belt 132d to rotate, and the synchronous belt 132d drives the synchronous wheel 132c to rotate. Under the action of the synchronous belt 132d and the synchronous wheel 132c, the synchronization of the two clamping claws 132e is achieved. When the two clamping claws 132e completely clamp the clamping limit blocks 224 on both sides of the upper plate 222 or the lower plate 221, the clamping of the upper plate 222 or the lower plate 221 is completed. When one of the clamping cylinders 132i fails, under the thrust of the other clamping cylinder 132i, in addition to pushing the directly connected clamping claw 132e, the other clamping cylinder 132i also indirectly pulls the other clamping claw 132e to press the upper plate 222 or the lower plate 221 through the synchronous belt 132d and the synchronous wheel 132c.

[0051] The process of the clamping structure 132 pushing the upper plate 222 and locking the lower plate 221 is described as follows: the clamping structure 132 clamps the upper plate 222 and moves it to the lower plate 221. The two pushing cylinders 132k of the clamping structure 132 push the push plate 132j, the push plate 132j ​​pushes the upper plate 222, the upper plate 222 pushes the lock buckle 2232, and the lock buckle 2232 pushes the lock hook 2234 to rotate. When the lock hook 2234 rotates to a certain angle, it falls into the lock buckle 2232, completing the locking of the upper plate 222 and the lower plate 221.

[0052] like Fig. 9 and 10As shown, the positioning unlocking machine 9 includes a second cylinder fixing plate 901, a second lifting cylinder 902, two second guide rod bottom plates 909, four second guide rods 904, two second connecting rods 905, a cylinder lifting plate 903, two driven lifting plates 906, four rotating cylinders 907 and eight pushing wheels 908. The second cylinder fixing plate 901 is installed below the plate assembly conveyor line 8 or the plate disassembly conveyor line 14. The second lifting cylinder 902 is installed on the second cylinder fixing plate 901, and the telescopic rod of the second lifting cylinder 902 is connected to the cylinder lifting plate 903. The middle parts of the two second connecting rods 905 are connected to the two ends of the cylinder lifting plate 903, and the two ends of the two second connecting rods 905 are respectively connected to the two driven lifting plates 906. The second guide rod bottom plates 909 are respectively mounted on both sides of the second cylinder fixed plate 901, and the second guide rod bottom plates 909 are also mounted below the plate-closing conveyor line 8 or the plate-removing conveyor line 14. The two driven lifting plates 906 are respectively fixedly connected to the upper ends of the four second guide rods 904, that is, each driven lifting plate 906 is fixedly connected to the upper ends of the two second guide rods 904. The lower ends of the four second guide rods 904 are respectively slidably mounted on the two second guide rod bottom plates 909, that is, each second guide rod bottom plate 909 is slidably connected to the lower ends of the two second guide rods 904. The four rotating cylinders 907 are respectively mounted on the two ends of the two second guide rod bottom plates 909, that is, a rotating cylinder 907 is respectively mounted on the two ends of each second guide rod bottom plate 909, and the four rotating cylinders 907 are located on both sides of the plate-removing conveyor line 14 or the plate-closing conveyor line 8. Eight pushing wheels 908 are distributed on the top of the two driven lifting plates 906, and two pushing wheels 908 are distributed at both ends of each driven lifting plate 906. The eight pushing wheels 908 correspond to the locking hooks 2234 of the eight self-locking structures 223 of the glass plate clamp 22.

[0053] The second cylinder fixing plate 901 is used to fix the second lifting cylinder 902. The second lifting cylinder 902 is used to drive the cylinder lifting plate 903 to rise and fall. The second guide rod bottom plate 909 is used to fix the second guide rod 904 and the four rotating cylinders 907. The second guide rod 904 guides the driven lifting plate 906. The second connecting rod 905 plays a transmission role and is used to drive the driven lifting plate 906 to rise and fall. The cylinder lifting plate 903 is used to drive the second connecting rod 905 to rise and fall. The driven lifting plate 906 is used to install eight pushing wheels 908. The rotating cylinder 907 is used to clamp the four sides of the glass plate clamp 22 to achieve the positioning of the glass plate clamp 22. The pushing wheel 908 is used to be embedded in the unlocking hole 2211 of the glass plate clamp 22 and push the lock hook 2234 to rotate, so as to achieve the unlocking of the upper plate 222 and the lower plate 221.

[0054] The working process of the positioning and unlocking machine 9 is described as follows: When the plate-joining conveyor line 8 conveys the glass plate fixture 22 to the top of the positioning and unlocking machine 9, the four rotating cylinders 907 rotate the blocking rods, and the blocking rods enter the plate-unloading conveyor line 14 to support the two ends of the glass plate fixture 22, thereby realizing the positioning of the glass plate fixture 22. Then the telescopic rod of the second lifting cylinder 902 extends to drive the cylinder lifting plate 903 to rise, and the cylinder lifting plate 903 drives the two driven lifting plates 906 to rise through the second connecting rod 905. The eight pushing wheels 908 on the two driven lifting plates 906 pass through the plate-unloading conveyor line 14 and are inserted into the eight unlocking holes 2211 of the glass plate fixture 22 and push the lock hook 2234 to rotate upward. When the lock buckle 2232 is free from the restriction of the lock hook 2234, the upper plate 222 is disconnected from the lower plate 221, that is, the upper plate 222 can be removed from the lower plate 221. When unlocking is completed, the second lifting cylinder 902 descends, and drives the driven lifting plate 906 to descend through the cylinder lifting plate 903, that is, the eight pushing wheels 908 move out of the unlocking hole 2211 and retract to the bottom of the plate dismantling conveyor line 14. The four rotating cylinders 907 rotate the blocking rod, and the blocking rod moves out of the plate dismantling conveyor line 14. The lower plate 221 continues to move forward driven by the plate dismantling conveyor line 14. The positioning unlocking machine 9 is on the plate dismantling conveyor line 8. During normal production, it only limits the lower plate 221 of the glass plate clamp 22, and then presses down the upper plate 222 through the clamp loading robot 11 to achieve the locking of the upper plate 222 and the lower plate 221. If it is necessary to clean the glass plate clamp 22, in order to improve the removal efficiency of the glass plate clamp 22, the plate combining conveyor line 8 and the plate removing conveyor line 14 are both used to combine the upper plate 222 and the lower plate 221, and the plate combining conveyor line 8 and the plate removing conveyor line 14 are both used to stack and remove the glass plate clamp 22.

[0055] like Fig.11 As shown, the plate loading and unloading machine 7 includes a plate loading and unloading base 71, a fixture conveying line 76 and two clamping and unclamping mechanisms. The fixture conveying line 76 is installed on the plate loading and unloading base 71, one clamping and unclamping mechanism is installed at the left end of the plate loading and unloading base 71, and the other clamping and unclamping mechanism is installed at the right end of the plate loading and unloading base 71. Both clamping and unclamping mechanisms are installed directly above the fixture conveying line 76. The left end of the fixture conveying line 76 is connected to the plate assembly conveying line 8, and the right end of the fixture conveying line 76 is connected to the plate disassembling conveying line 14. One clamping and unclamping mechanism is connected to the loading and transferring robot 6, and the other clamping and unclamping mechanism is connected to the unloading and transferring robot 15.

[0056] The plate loading and unloading base 71 is used to install a fixed fixture conveying line 76 and a clamping and unclamping mechanism. The fixture conveying line 76 is used to convey the lower plate 221 of the glass plate fixture 22. The clamping and unclamping mechanism is used to position the glass plate 23, and the glass plate 23 is transferred and unloaded from the lower plate 221.

[0057] like Fig.12As shown, each clamping and unclamping mechanism includes an XYZ coordinate system 72, a secondary positioning structure 74, a lower plate lifting structure 75 and a lower plate blocking structure 77. The secondary positioning structure 74 is installed on the front side of the board loading and unloading base 71, and the lower plate lifting structure 75 is installed in the board loading and unloading base 71 and is located directly below the fixture conveying line 76. The XYZ coordinate system 72 is installed on the top of the board loading and unloading base 71, and the XYZ coordinate system 72 is located directly above the fixture conveying line 76 and the secondary positioning structure 74. The lower plate blocking structure 77 is installed in the board loading and unloading base 71 and is located on the side of the lower plate lifting structure 75 away from the board removal conveying line 14, that is, on the left side of the lower plate lifting structure 75.

[0058] Each XYZ coordinate system 72 includes two Y-axis linear modules 721, an X-axis beam 722, an X-axis linear module 723, a Z-axis linear module 724 and a suction cup structure 73. Each suction cup structure 73 includes two first connecting parts 731, two downward pressure cylinders 732, a nozzle fixing plate 733 and a plurality of suction nozzles 734. The two Y-axis linear modules 721 are installed on the top of the loading and unloading base 71. The two Y-axis linear modules 721 are parallel to each other, and the two ends of the X-axis beam 722 are respectively slidably connected to the two Y-axis linear modules 721. The Z-axis linear module 724 is installed on the X-axis beam 722 so as to move up and down through the X-axis linear module 723. The two downward pressure cylinders 732 are installed on the Z-axis linear module 724 so as to move up and down through the two first connecting parts 731. The two downward-pressing cylinders 732 are respectively connected to the two suction nozzle fixing plates 733 , and a plurality of suction nozzles 734 are distributed on the suction nozzle fixing plates 733 .

[0059] The Y-axis linear module 721 can be purchased in the existing market, and can drive the X-axis to move horizontally forward and backward. The X-axis crossbeam 722 is used to fix the X-axis linear module 723. The X-axis linear module 723 can be purchased in the existing market, and is used to drive the Z-axis linear module 724 to move left and right. The Z-axis linear module 724 can be purchased in the existing market, and is used to drive the suction cup structure 73 to move up and down. The suction cup structure 73 is used to suck the glass plate 23. The first connecting member 731 plays a connecting transmission role. The downward pressure cylinder 732 allows the suction nozzle 734 to fully contact the glass plate 23 to ensure sealing. The suction nozzle fixing plate 733 allows the suction nozzle 734 to be evenly distributed. The suction nozzle 734 is used to adsorb the glass plate 23.

[0060] like Fig.13 and 14As shown, each secondary positioning structure 74 includes a glass bearing plate 741, two first limiting bars 742, two second limiting bars 743, two oblique pushing blocks 744, two pushing cylinders 745 and two inductive sensors 746. The glass bearing plate 741 is mounted on the front side of the plate loading and unloading base 71. A first limiting bar 742 and a second limiting bar 743 are mounted on the left end of the front face of the glass bearing plate 741, and another first limiting bar 742 and another second limiting bar 743 are mounted on the right end of the front face of the glass bearing plate 741. The first limiting bar 742 and the second limiting bar 743 are perpendicular to each other. Two through holes are provided on the glass bearing plate 741, one end of the two oblique pushing blocks 744 is connected to the two pushing cylinders 745, the two pushing cylinders 745 are mounted on the back of the glass bearing plate 741, and the other ends of the two oblique pushing blocks 744 respectively pass through the two through holes and extend to the front face of the glass bearing plate 741. The first limiting strip 742 , the second limiting strip 743 and the oblique pushing block 744 correspond to each other. Two inductive sensors 746 are installed on the back of the glass bearing plate 741 .

[0061] The glass bearing plate 741 is used to bear the glass plate 23. The first limiting strip 742 limits the left side of the glass plate 23, and the second limiting strip 743 limits the rear side of the glass plate 23. The oblique pushing block 744 is used to push a corner of the glass plate 23 so that the glass plate 23 is close to the first limiting strip 742 and the second limiting strip 743. The pushing cylinder 745 provides power for the movement of the oblique pushing block 744. The inductive sensor 746 is used to detect whether the glass plate 23 exists on the bearing glass plate 23.

[0062] like Fig.15 and 16 As shown, each lower plate lifting structure 75 includes two first guide rod bottom plates 751, four first guide rods 752, a first cylinder fixing plate 753, a first lifting cylinder 754, a first lifting plate 755, two first connecting rods 756 and two second lifting plates 757. The two first guide rod bottom plates 751 and the first cylinder fixing plate 753 are both installed on the plate loading and unloading base 71, and the two first guide rod bottom plates 751 are located on both sides of a first cylinder fixing plate 753. The lower ends of the four first guide rods 752 are slidably installed on the two first guide rod bottom plates 751. The two ends of the two second lifting plates 757 are respectively connected to the tops of the four first guide rods 752. The two ends of the two second lifting plates 757 are respectively connected to the two ends of the two first connecting rods 756. The middle parts of the two first connecting rods 756 are connected to the two ends of a first lifting plate 755. The bottom of the first lifting plate 755 is connected to the rod head of the first lifting cylinder 754, and the first lifting cylinder 754 is installed on the first cylinder fixing plate 753. The two second lifting plates 757 pass through the fixture conveying line 76 when they are lifted.

[0063] The first guide rod bottom plate 751 is used to install the first guide rod 752. The first guide rod 752 is used to guide the lifting direction of the second lifting plate 757. The first cylinder fixing plate 753 is used to install and fix the first lifting cylinder 754. The first lifting cylinder 754 provides power for the lifting of the first lifting plate 755. The first lifting plate 755 is used to drive the first connecting rod 756 to move up and down, play a transmission role, and lift up the middle part of the lower plate 221 of the glass plate clamp 22. The first connecting rod 756 plays a transmission role. The second lifting plate 757 is used to lift up both ends of the lower plate 221 of the glass plate clamp 22.

[0064] like Fig.17 As shown, the fixture conveyor line 76 includes a conveyor line motor 761, two conveyor belts 762, a transmission shaft 763 and a conveyor line chassis 764. The conveyor line chassis 764 is mounted on the plate loading and unloading base 71, and the two conveyor belts 762 are mounted on the conveyor line chassis 764. The transmission shaft 763 is rotatably mounted on the conveyor line chassis 764. The two ends of the transmission shaft 763 are respectively connected to the two conveyor belts 762. The conveyor line motor 761 is connected to the transmission shaft 763, and the conveyor line motor 761 is mounted on the conveyor line chassis 764.

[0065] The conveyor line motor 761 provides power for the rotation of the transmission belt. The conveyor belt 762 is used to transmit the glass plate clamp 22. The transmission shaft 763 is used to drive the two conveyor belts 762. The conveyor line chassis 764 is used to fix the conveyor line motor 761, the conveyor line motor 761 and the transmission shaft 763.

[0066] like Fig.18 As shown, each lower plate blocking structure 77 includes a cylinder bracket 771, a telescopic cylinder 772, a bracket guide rod 773, an elastic member 774, a blocking bracket 775, a fixed shaft 776, a steering block 777 and a pulley 778. The cylinder bracket 771 is mounted on the plate loading and unloading base 71. The telescopic cylinder 772 is mounted on the bottom of the cylinder bracket 771, and the bracket guide rod 773 is mounted on the top of the cylinder bracket 771. The blocking bracket 775 is slidably connected with the bracket guide rod 773. The telescopic rod of the telescopic cylinder 772 is connected to the blocking bracket 775, the lower end of the elastic member 774 is mounted on the blocking bracket 775, and the upper end of the elastic member 774 is abutted against one end of the steering block 777. The steering block 777 is rotatably mounted on the blocking bracket 775 through the fixed shaft 776. The pulley 778 is rotatably mounted on the other end of the steering block 777.

[0067] The cylinder bracket 771 is used to install the telescopic cylinder 772 on the plate loading and unloading base 71. The telescopic cylinder 772 provides power for the lifting and lowering of the blocking bracket 775. The bracket guide rod 773 guides the blocking bracket 775. The elastic member 774 is a spring, which has a buffering effect on the steering block 777. The blocking bracket 775 is used to install the fixed shaft 776. The steering block 777 adopts the lever principle to drive the roller to move up and down. The fixed shaft 776 is used to fix the steering block 777 so that the steering block 777 rotates with the fixed shaft 776 as the center of the circle. The pulley 778 is used to reduce the friction between the steering block 777 and the lower plate 221 of the glass plate clamp 22.

[0068] The working process of the lower plate blocking structure 77 is described as follows: when the telescopic cylinder 772 drives the blocking bracket 775 to extend, the pulley 778 passes under the clamp conveying line 76, and the pulley 778 blocks the lower plate 221 from moving forward. The lower plate 221 hits the pulley 778, and the pulley 778 drives the right end of the steering block 777 to rise, and the left end of the steering block 777 is pressed downward. The elastic member 774 is compressed and then restored, pushing the left end of the steering block 777 to return to its original position, thereby buffering the impact of the lower plate.

[0069] like Fig.19 As shown, the stacking and splitting machine 10 includes a stacking and splitting base 101, two plug-in plate structures 102, a middle lifting structure 103 and two side lifting structures 104. The stacking and splitting base 101 is installed on the board-joining conveyor line 8 or the board-removing conveyor line 14, the middle lifting structure 103 is installed in the middle of the stacking and splitting base 101, and the plug-in plate structure 102 is installed at both ends of the stacking and splitting base 101. The side lifting structure 104 is located between the middle lifting structure 103 and the side lifting structure 104, and the side lifting structure 104 is also installed on the stacking and splitting base 101. The lifting height of the middle lifting structure 103 is greater than the height of the plug-in plate position of the plug-in plate structure 102, and the height of the plug-in plate position is greater than the lifting height of the side lifting structure 104.

[0070] like Fig. 20 As shown, each plugboard structure 102 includes a side baffle 1021, a plugboard bracket 1022, a bearing plugboard 1023, two first slide rails 1024, a plugboard cylinder 1025 and two first sliders 1026. The two first sliders 1026 are mounted at the bottom of the bearing plugboard 1023, and the two first sliders 1026 are slidably mounted on the two first slide rails 1024, and the two first slide rails 1024 are mounted on the top of the plugboard bracket 1022. The plugboard cylinder 1025 is mounted between the two first slide rails 1024, and the plugboard cylinder 1025 is connected to the bearing plugboard 1023. The two ends of the side baffle 1021 are mounted at the two ends of the top of the plugboard bracket 1022, and the side baffle 1021 is located above the bearing plugboard 1023.

[0071] like Fig.21 As shown, the middle lifting structure 103 includes a middle lifting plate 1031, four third guide rods 1032, four shaft sleeves 1033, a connecting block 1034, a middle lifting cylinder 1035 and a cylinder base 1036. The middle lifting cylinder 1035 is installed in the middle of the stacking and splitting base 101 through the cylinder base 1036. The four third guide rods 1032 are respectively slidably connected with the four shaft sleeves 1033, and the four shaft sleeves 1033 are respectively installed on the two stacking and splitting load-bearing plates 1013 of the stacking and splitting base 101. The tops of the four third guide rods 1032 are connected to the four corners of the middle lifting plate 1031. The middle of the middle lifting plate 1031 is connected to the middle lifting cylinder 1035 through the connecting block 1034.

[0072] like Fig. 22 As shown, the stacking and splitting base 101 includes a stacking and splitting bottom plate 1011, six stacking and splitting branch plates 1012 and two stacking and splitting load-bearing plates 1013. The six stacking and splitting branch plates 1012 are divided into two rows, each row having a plurality of stacking and splitting branch plates. The six stacking and splitting branch plates 1012 are vertically mounted on the top of the stacking and splitting bottom plate 1011, and the stacking and splitting bottom plate 1011 is mounted on the plywood conveying line 8 or the plywood disassembling conveying line 14. The two stacking and splitting load-bearing plates 1013 are respectively connected to the tops of the two rows of stacking and splitting branch plates 1012.

[0073] like Fig.23 As shown, each lateral lifting structure 104 includes a lateral top plate 1041, two lateral guide rods 1042, two guide rod fixing seats 1043, a top plate fixing block 1044 and a third lifting cylinder 1045. The two ends of the lateral top plate 1041 are respectively connected to the upper ends of the two lateral guide rods 1042. The lower ends of the two lateral guide rods 1042 are respectively slidably connected to the two guide rod fixing seats 1043. The two guide rod fixing seats 1043 are installed on the stacking and splitting load-bearing plate 1013 of the stacking and splitting base 101. The telescopic rod of the third lifting cylinder 1045 is connected to the middle part of the lateral top plate 1041 through the top plate fixing block 1044. The third lifting cylinder 1045 is installed in the middle part of the stacking and splitting load-bearing plate 1013 and is located between the two guide rod fixing seats 1043.

[0074] Description of the stacking working process of the stack splitter 10:

[0075] When the glass plate clamps 22 of the glass plates 23 need to be stacked, the first glass plate clamp 22 enters the stacking and splitting machine 10 and is located directly above the middle lifting structure 103. The middle lifting structure 103 lifts up the first glass plate clamp 22, and the plug-in plate structures 102 on both sides extend. The middle lifting structure 103 retracts, and the plug-in plate structures 102 support the first glass plate clamp 22. The second glass plate clamp 22 enters the stacking and splitting machine 10, and is located directly above the side lifting structures 104 on both sides. The second glass plate clamp 22 is lifted up by the side lifting structures 104 on both sides, and the second glass plate clamp 22 supports the first glass plate clamp 22. The plug-in plate structures 102 on both sides retract, and the plug-in plate structures 102 on both sides are separated from the first glass plate clamp 22. The middle lifting structure 103 lifts up the second glass plate fixture 22, the side lifting structures 104 on both sides retract, the inserting plate structure 102 supports both sides of the second glass plate fixture 22, and the middle lifting structure 103 retracts. In this way, the stacking of the glass plate fixtures 22 is completed.

[0076] When the stacked glass plate clamps 22 need to be split, the side lifting structures 104 on both sides lift the glass plate clamps 22, and the plug-in structures 102 on both sides are inserted between the penultimate glass plate clamps 22 and the penultimate glass plate clamps 22. The side lifting structures 104 on both sides drive the penultimate glass plate clamps 22 to descend, and the plug-in structures 102 on both sides support the penultimate glass plate clamps 22. After the penultimate glass plate clamps 22 are sent out of the stack splitting machine 10, the middle lifting structure 103 lifts and supports the penultimate glass plate clamps 22, and the plug-in structures 102 on both sides retract. The side lifting structures 104 on both sides lift, the middle lifting structure 103 retracts, the stacked glass plate clamps 22 descend, and the side lifting structures 104 on both sides support the stacked glass plate clamps 22. The inserting plate structures 102 on both sides are inserted between the third to last glass plate clamp 22 and the second to last glass plate clamp 22, the side lifting structures 104 on both sides are retracted and drive the second to last glass plate clamp 22 to descend, the inserting plate structures 102 on both sides support the third to last glass plate clamp 22, and the second to last glass plate clamp 22 is sent out of the stacking and splitting machine 10. And so on, the stacked glass plate clamps 22 are split.

[0077] The above specific implementation modes are preferred embodiments of the present invention and cannot be used to limit the present invention. Any other changes or other equivalent replacement methods that do not deviate from the technical solution of the present invention are included in the protection scope of the present invention.

Claims

1. Automatic loading and unloading equipment for glass sheets, characterized by: The glass plate feeding section includes a glass plate feeding section, a loading and unloading fixture section, a pallet conveyor line and a glass plate discharging section. The loading and unloading fixture section includes a plate loading and unloading machine, a plate closing conveyor line, a positioning and unlocking machine, a fixture loading robot, a plate loading conveyor line, a fixture unloading robot and a plate dismantling conveyor line. The glass plate feeding end of the plate loading and unloading machine is connected to one end of the pallet conveyor line through a loading and transferring robot, the fixture feeding end of the plate loading and unloading machine is connected to the plate dismantling conveyor line, and the fixture discharging end of the plate loading and unloading machine is connected to the plate closing conveyor line. The glass plate discharging end of the plate loading and unloading machine is connected to the other end of the pallet conveyor line through a material unloading and transferring robot, the plate dismantling conveyor line is connected to one end of the plate loading conveyor line through a clamp unloading robot, and the other end of the plate loading conveyor line is connected to the plate closing conveyor line through a clamp loading robot, the positioning and unlocking machines are respectively installed on the plate closing conveyor line and the plate dismantling conveyor line, and the two ends of the pallet conveyor line are respectively connected to the glass plate feeding section and the glass plate discharging section; The automatic loading and unloading equipment for glass plates further comprises a stacking and splitting machine, which is respectively installed on the plate-joining conveying line and the plate-removing conveying line; The stacking and splitting machine includes a stacking and splitting base, a plug-in plate structure, a middle lifting structure and a side lifting structure. The stacking and splitting base is respectively installed on the combined plate conveyor line and the dismantling plate conveyor line, the middle lifting structure is installed in the middle of the stacking and splitting base, the plug-in plate structure is installed at both ends of the stacking and splitting base, and the side lifting structure is located between the middle lifting structure and the side lifting structure. The lifting height of the middle lifting structure is greater than the height of the plug-in plate position of the plug-in plate structure, and the height of the plug-in plate position is greater than the lifting height of the side lifting structure.

2. The automatic loading and unloading equipment for glass sheets according to claim 1, characterized in that: The fixture loading robot or fixture unloading robot comprises a manipulator and a clamping structure, and the clamping structure is connected to the manipulator.

3. The automatic loading and unloading equipment for glass sheets according to claim 2, characterized in that: The clamping structure includes a clamping base plate, a synchronous shaft, a synchronous wheel, a synchronous belt, a clamping claw, a belt clamp, a clamping cylinder, a push plate, a pushing cylinder, a second connecting member and a rotating shaft fixing seat. The clamping base plate is connected to the manipulator through the second connecting member, the synchronous shaft is installed at both ends of the clamping base plate through the rotating shaft fixing seat, the synchronous wheel is rotatably installed on the synchronous shaft, the synchronous wheels are connected through the synchronous belt, the clamping claw is slidably installed at both ends of the clamping base plate, the clamping claw is connected to the synchronous belt through the belt clamp, the clamping cylinder is connected to the clamping claw, the clamping cylinder is installed on the clamping base plate, and the push plate is installed on both sides of the clamping base plate through the pushing cylinder.

4. The automatic loading and unloading equipment for glass sheets according to claim 1, characterized in that: The positioning and unlocking machine includes a second cylinder fixing plate, a second lifting cylinder, a second guide rod bottom plate, a second guide rod, a second connecting rod, a cylinder lifting plate, a driven lifting plate, a rotating cylinder and a pushing wheel. The second cylinder fixing plate is respectively installed on the plate closing conveyor line and the plate removing conveyor line. The second guide rod bottom plate is respectively installed on both sides of the second cylinder fixing plate. The cylinder lifting plate is installed on the second cylinder fixing plate through the second lifting cylinder. The two ends of the cylinder lifting plate are respectively connected to the driven lifting plate through the second connecting rod. The second guide rod is slidably installed on the second guide rod bottom plate. The driven lifting plate is connected to the second guide rod. The rotating cylinder is installed on both ends of the second guide rod bottom plate. The pushing wheel is installed on the driven lifting plate.

5. The automatic loading and unloading equipment for glass sheets according to claim 1, characterized in that: The panel loading and unloading machine includes a panel loading and unloading base, a clamp conveyor line and two clamping and unclamping mechanisms. The clamp conveyor line is installed on the panel loading and unloading base. The two clamping and unclamping mechanisms are connected to the clamp conveyor line. The two clamping and unclamping mechanisms are respectively connected to the loading and transferring robot and the unloading and transferring robot. The two ends of the clamp conveyor line are respectively connected to the panel closing conveyor line and the panel dismantling conveyor line.

6. The automatic loading and unloading equipment for glass sheets according to claim 5, characterized in that: The clamping and unclamping mechanism includes an XYZ coordinate system, a secondary positioning structure, a lower plate lifting structure and a lower plate blocking structure. The secondary positioning structure is connected to the loading and transferring robot or the unloading and transferring robot. The secondary positioning structure is connected to the fixture conveyor line through the XYZ coordinate system. The lower plate lifting structure is installed below the fixture conveyor line. The lower plate lifting structure corresponds to the XYZ coordinate system. The lower plate blocking structure is located on the side of the lower plate blocking structure away from the plate dismantling conveyor line.

7. The automatic loading and unloading equipment for glass sheets according to claim 1, characterized in that: The glass plate feeding section includes a plate feeding line, a loading elevator, a first plate inspection machine, a first longitudinal conveying line and a first plate NG line. The plate feeding line, the loading elevator, the first longitudinal conveying line and one end of the pallet conveying line are connected in sequence. The first plate inspection machine is installed on the first longitudinal conveying line. The first plate NG line is connected to the middle of the pallet conveying line.

8. The automatic loading and unloading equipment for glass sheets according to claim 1, characterized in that: The glass plate discharging section includes a second longitudinal conveying line, a second plate detector, a material unloading elevator, a pallet discharging line and a second plate NG line. The other end of the pallet conveying line is connected to one end of the second longitudinal conveying line, and the other end of the second longitudinal conveying line is respectively connected to the material unloading elevator and the second plate NG line. The second plate detector is installed on the second longitudinal conveying line, and the material unloading elevator is connected to the pallet discharging line.

Images