Device for automatically inserting ultrathin flexible glass into toughening basket before toughening

Abstract

The invention provides a device for automatically inserting ultrathin flexible glass into a toughening basket before toughening, which comprises a roller conveying mechanism for conveying the ultrathin flexible glass; the incoming material cylinder clamping mechanism is arranged at the top of one side, close to the discharging end, of the roller conveying mechanism and is used for clamping the ultrathin flexible glass; the tempered basket clamping mechanism is arranged on one side of the discharging end of the roller conveying mechanism and is used for clamping and fixing a tempered basket; the visual system capturing and positioning mechanism is arranged on one side of the tempered basket clamping mechanism and is used for accurately capturing, positioning and analyzing a clamping groove in the tempered basket; the six-axis robot is arranged between the roller conveying mechanism and the tempered basket clamping mechanism; and the material taking adsorption mechanism is arranged at the tail end of a mechanical arm of the six-axis robot. According to the invention, the process of automatically inserting the ultrathin flexible glass into the toughening basket before toughening is realized, the conversion from manual operation to mechanization and automation is completed, the automatic production is realized, the production efficiency is improved, and the production damage rate is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of ultra-thin flexible glass production, in particular to a device for automatically inserting a tempering basket into the ultra-thin flexible glass before tempering. Background Art

[0002] Ultra-thin flexible glass (UTG) is a very thin, bendable and extremely flexible material. It has the characteristics of ultra-thinness, wear resistance, good light transmittance, high strength, bendability and good resilience. Therefore, it is considered to be an important development direction of flexible folding materials in new display applications.

[0003] Some ultra-thin flexible glass needs to be inserted into a tempered basket for high-temperature tempering during production. Ultra-thin flexible glass contains water stains before tempering, which makes it brittle and easy to break, and is prone to scratches. Moreover, the tempered basket has slight deformation after multiple high-temperature tempering. Basically, it is inserted into the basket manually. This production method using manual insertion is not only inefficient, but also has a heavy labor burden on workers, and is also prone to scratches, which is very inconvenient. Since the untempered ultra-thin flexible glass contains water stains, which makes it brittle and easy to break, if the existing device uses a common suction cup to grab the UTG glass and then release the material, it is easy to have problems such as failure to release the material and damage to the UTG glass; and the tempered basket generally has slight deformation after multiple high-temperature tempering, which is not easy to accurately position, so that the UTG glass is easily damaged when inserted into the tempered basket. Therefore, there are few or even no devices on the market for automatically inserting ultra-thin flexible glass into a tempered basket before tempering. Therefore, there is an urgent need for a special device suitable for automatically inserting ultra-thin flexible glass into a tempered basket before tempering, so as to solve the above technical problems. Summary of the invention

[0004] The present invention provides a device for automatically inserting a tempering basket into an ultra-thin flexible glass before tempering, so as to solve the technical problems raised in the above-mentioned background technology.

[0005] In order to achieve the above-mentioned object, the present invention adopts the following technical scheme: a device for automatically inserting a tempering basket into an ultra-thin flexible glass before tempering, comprising a roller conveying mechanism for conveying the ultra-thin flexible glass; The incoming cylinder clamping mechanism is arranged at the top of one side of the roller conveying mechanism close to the discharging end, and is used to clamp the ultra-thin flexible glass; The tempered basket clamping mechanism is arranged on one side of the discharging end of the roller conveyor mechanism and is used to clamp and fix the tempered basket; The visual system capture and positioning mechanism is set on one side of the toughened basket clamping mechanism, and is used to accurately capture, locate and analyze the card slots on the toughened basket; A six-axis robot is arranged between the roller conveying mechanism and the toughened basket clamping mechanism; The material picking and adsorption mechanism is arranged at the end of the mechanical arm of the six-axis robot, and is used to adsorb and fix the ultra-thin flexible glass. It cooperates with the six-axis robot to grab the ultra-thin flexible glass from the roller conveyor mechanism and transfer it to the corresponding card slot on the tempered basket.

[0006] Preferably, the roller conveying mechanism includes a conveying frame, on which a plurality of conveying steel rollers are rotatably mounted, and two PE guide wheels are correspondingly mounted on both sides of the middle of the conveying steel roller; a rotating rod is correspondingly rotatably mounted on one side of the conveying frame, one end of the rotating rod is transmission-connected to the output shaft of a driving servo motor, a plurality of first magnetic wheels are correspondingly mounted on the rotating rod, a second magnetic wheel is correspondingly mounted on one end of the conveying steel roller, and the second magnetic wheel is connected to the corresponding first magnetic wheel through magnetic transmission.

[0007] Preferably, the incoming material cylinder clamping mechanism includes a cylinder fixing bracket, which is symmetrically arranged on both sides of the top of the roller conveyor mechanism close to the discharge port, and a cylinder fixing bracket is also correspondingly provided in the middle of the top of the discharge port of the roller conveyor mechanism, and the cylinder fixing bracket is correspondingly connected and fixed to the conveying frame of the roller conveyor mechanism, and a driving cylinder is installed on the inner side of the cylinder fixing bracket, and a clamping baffle is installed on the telescopic end of the driving cylinder, and the clamping baffles located on both sides pass through adjacent PE guide wheels, and the clamping baffles are correspondingly wrapped with rubber jackets.

[0008] Preferably, the incoming material cylinder clamping mechanism further comprises a photoelectric sensor, which is installed correspondingly on one side of the material taking position on the roller conveying mechanism and is used to sense whether the ultra-thin flexible glass is incoming.

[0009] Preferably, the material picking adsorption mechanism includes a material picking adsorption plate, which is installed at the end of the mechanical arm of the six-axis robot through an adsorption plate fixing bracket, and a plurality of vacuum generators are installed on the top of the material picking adsorption plate. A plurality of raised adsorption cylinders are provided on the adsorption surface of the bottom of the material picking adsorption plate, and the plurality of raised adsorption cylinders are respectively connected to the plurality of vacuum generators through separate vacuum air passages.

[0010] Preferably, three vacuum generators are installed on the top of the material taking adsorption plate, and three raised adsorption cylinders are provided on the adsorption surface of the bottom of the material taking adsorption plate. The three raised adsorption cylinders are distributed in a triangle, and the three raised adsorption cylinders are connected to the three vacuum generators through separate vacuum air ducts.

[0011] Preferably, the tempered basket clamping mechanism comprises a placement plate, on which four clamping plates distributed in a rectangular shape are correspondingly provided, the four clamping plates can be driven to move synchronously inward or outward, the tempered basket is correspondingly placed on the placement plate and located between the four clamping plates, and the tempered basket is synchronously clamped by the four clamping plates.

[0012] Preferably, clamping cylinder fixing brackets are correspondingly provided on all four sides of the top of the placement plate, and clamping cylinders are correspondingly installed on the inner side surfaces of the clamping cylinder fixing brackets. The four clamping plates are respectively installed on the telescopic ends of the four clamping cylinders, driving the four clamping cylinders to extend synchronously to clamp the tempered basket.

[0013] Preferably, the placement plate is provided with corresponding sliding grooves on all four sides, movable blocks are slidably installed in the sliding grooves, four clamping plates are respectively installed on the tops of the four movable blocks, a clamping motor is installed on the middle part of the bottom end of the placement plate, a turntable is installed on the output shaft of the clamping motor, L-shaped connecting rods are hingedly installed on the edges of the turntable, and the other ends of the four L-shaped connecting rods are hingedly connected to the bottoms of the four movable blocks.

[0014] Preferably, the vision system capture and positioning mechanism includes a vision control cabinet, a vision bracket, a camera and a light source. The vision control cabinet is correspondingly arranged on one side of the clamping mechanism of the tempered basket. The top of the vision control cabinet is correspondingly provided with a vision bracket. The camera is correspondingly installed on the top of the vision bracket through a camera mounting plate. The light source is correspondingly installed on the top of the vision bracket through a light source fixing plate. The camera is correspondingly located above the tempered basket, and the light source is correspondingly irradiated on the tempered basket.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention adopts a roller conveying mechanism to avoid the problem of adsorption and grasping failure or damage when the UTG glass with water stains is adsorbed and grasped by the traditional conveying device.

[0016] Second, the special structural design of the material taking adsorption plate of the present invention avoids the problem of the UTG glass with water stains being adsorbed by the material taking adsorption plate during material discharge, which causes the material to be unable to be discharged, and the UTG glass is damaged due to excessive force per unit area. 3. The present invention is provided with a material-incoming cylinder clamping mechanism, which effectively ensures the material-taking accuracy and can better avoid the damage problem caused by the collision between the UTG glass and the tempered basket when discharging the material.

[0017] Fourth, the present invention is provided with a visual system capture positioning mechanism and a tempered basket clamping mechanism, which ensures the accuracy of material discharge and effectively avoids the damage problem caused by the collision between the UTG glass and the tempered basket during material discharge.

[0018] 5. The present invention realizes the process of automatically inserting the tempered basket before the ultra-thin flexible glass is tempered by the cooperation of multiple mechanisms, completes the transformation from manual to mechanized automation, realizes automated production, improves production efficiency, and reduces the production damage rate; and also better solves the problem of UTG glass damage caused by deformation of the tempered basket after multiple high-temperature tempering. The overall design is ingenious, the use method is flexible, the practicability is strong, and it is worthy of promotion. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of a top view of the overall structure of the present invention; Figure 2 It is a structural schematic diagram of the tempered basket of the present invention; Figure 3 It is a structural schematic diagram of the clamping mechanism of the tempered basket of the present invention.

[0020] In the figure: 1. roller conveying mechanism; 101. conveying frame; 102. conveying steel roller; 2. PE guide wheel; 3. driving servo motor; 4. incoming cylinder clamping mechanism; 5. material picking adsorption mechanism; 6. six-axis robot; 7. tempered basket clamping mechanism; 701. placement plate; 702. clamping plate; 703. movable block; 704. turntable; 705. L-shaped connecting rod; 706. clamping motor; 8. tempered basket; 801. card slot; 9. vision system capture positioning mechanism. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "page", "bottom", "inside", "outside", "clockwise", "counterclockwise", "coaxial", "bottom", "one end", "top", "the other end", "one side", "front", "two ends", "both sides" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0023] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0024] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed", "provided with", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be internal communication between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] Reference is now made to the accompanying drawings, wherein the purpose of each illustration is only to show certain exemplary embodiments and is not intended to limit the present invention. In each of the drawings, the same reference numerals represent the same or corresponding parts. The dimensions and proportions in each of the drawings are also only for illustration and should not be interpreted as limiting the present invention, and these dimensions may be exaggerated relative to the actual product. Example

[0026] See also Figure 1-3 , a device for automatically inserting an ultra-thin flexible glass into a tempering basket before tempering in this embodiment includes a roller conveying mechanism 1 for conveying the ultra-thin flexible glass; The incoming cylinder clamping mechanism 4 is arranged at the top of one side of the roller conveying mechanism 1 close to the discharging end, and is used to clamp the ultra-thin flexible glass; The tempered basket clamping mechanism 7 is arranged on one side of the discharging end of the roller conveying mechanism 1 and is used to clamp and fix the tempered basket 8; The visual system capture and positioning mechanism 9 is arranged on one side of the toughened basket clamping mechanism 7 and is used to accurately capture, locate and analyze the card slot 801 on the toughened basket 8; The six-axis robot 6 is arranged between the roller conveying mechanism 1 and the tempered basket clamping mechanism 7; The material picking and adsorption mechanism 5 is arranged at the end of the mechanical arm of the six-axis robot 6, and is used to adsorb and fix the ultra-thin flexible glass, and cooperate with the six-axis robot 6 to grab the ultra-thin flexible glass from the roller conveyor mechanism 1 and transfer it to the corresponding card slot 801 on the tempered basket 8.

[0027] Specifically, the roller conveying mechanism 1 includes a conveying frame 101, on which a plurality of conveying steel rollers 102 are rotatably mounted, the outer side of the conveying steel rollers 102 may be wrapped with a rubber sleeve, and two PE guide wheels 2 are correspondingly mounted on both sides of the middle of the conveying steel roller 102, and the distance between the two PE guide wheels 2 may be adapted to the width of the ultra-thin flexible glass; a rotating rod is correspondingly rotatably mounted on one side of the conveying frame 101, one end of the rotating rod is connected to the output shaft of the driving servo motor 3, and the driving servo motor 3 is correspondingly mounted on the conveying frame 101, and a plurality of first magnetic wheels are correspondingly mounted on the rotating rod, and a second magnetic wheel is correspondingly mounted on one end of the conveying steel roller 102, and the second magnetic wheel can generate a mutually repelling magnetic force with the corresponding first magnetic wheel, and the second magnetic wheel is connected with the corresponding first magnetic wheel through magnetic transmission. It is worth noting that the roller conveying mechanism 1 of this embodiment can directly adopt the existing roller conveying equipment, and realizing the rotation of multiple rollers by magnetic wheels is also a very mature existing technology, so it will not be elaborated here. The present embodiment adopts the conveying steel roller 102 to convey the incoming UTG glass, thereby avoiding the situation that the UTG glass cannot be grasped or is damaged due to the adsorption of water stains on the UTG glass by the traditional glass conveying device.

[0028] The incoming material cylinder clamping mechanism 4 includes a cylinder fixing bracket, which is symmetrically arranged on both sides of the top of the roller conveyor mechanism 1 near the discharge port, and a cylinder fixing bracket is also correspondingly arranged in the middle of the top discharge port of the roller conveyor mechanism 1. The cylinder fixing bracket is correspondingly connected and fixed to the conveying frame 101 of the roller conveyor mechanism 1. A driving cylinder is installed on the inner side of the cylinder fixing bracket, and a clamping baffle is installed on the telescopic end of the driving cylinder. The clamping baffles on both sides pass through the adjacent PE guide wheels 2, and the clamping baffles are correspondingly wrapped with a rubber jacket. The incoming material cylinder clamping mechanism 4 also includes a photoelectric sensor, which is correspondingly installed on one side of the material taking position on the roller conveyor mechanism 1, that is, the photoelectric sensor can be correspondingly installed on the side of the incoming material cylinder clamping mechanism 4 away from the discharge port of the roller conveyor mechanism 1, and the photoelectric sensor is correspondingly pointed between the adjacent PE guide wheels 2, which is used to sense whether the ultra-thin flexible glass is incoming. When working, the photoelectric sensor senses the incoming UTG glass, driving the driving cylinders on both sides to work synchronously, clamping and aligning the incoming UTG glass to improve the positioning accuracy of the insertion basket; and the clamping bar in the middle of the outlet at the top of the roller conveyor mechanism 1 can intercept the incoming UTG glass, play a role in safe packaging and prevent it from falling. When picking up the material, the clamping bars on both sides can be released after the material picking adsorption mechanism 5 adsorbs the UTG glass.

[0029] The material picking adsorption mechanism 5 includes a material picking adsorption plate, which is correspondingly installed at the end of the mechanical arm of the six-axis robot 6 through an adsorption plate fixing bracket, and a plurality of vacuum generators are correspondingly installed on the top of the material picking adsorption plate, and a plurality of protruding adsorption cylinders are correspondingly provided on the adsorption surface at the bottom of the material picking adsorption plate, and the plurality of protruding adsorption cylinders are respectively connected to the plurality of vacuum generators through separate vacuum air passages. The material picking adsorption mechanism 5 is mainly made of an integral solid plate to form an adsorption flat plate, which ensures the flatness of the adsorption and grasping plane and the adsorption and material picking capacity of the material picking adsorption mechanism. It is worth noting that three protruding adsorption cylinders are preferably provided on the adsorption surface at the bottom of the material picking adsorption plate, and the three protruding adsorption cylinders are triangularly distributed, and three vacuum generators are correspondingly installed on the top of the material picking adsorption plate, and the three protruding adsorption cylinders are respectively connected to the three vacuum generators through separate vacuum air passages. In this embodiment, three protruding adsorption cylinders distributed in a triangle are arranged to facilitate the lowering of the UTG glass in the subsequent process (inserting the basket); and the three protruding adsorption cylinders are respectively controlled by three separate vacuum air passages, which speeds up the material unloading and the production rate, and can also effectively adjust and accurately control the suction force of the material taking adsorption plate to avoid the ultra-thin flexible glass being broken by excessive suction.

[0030] The six-axis robot 6 includes a robot body, a robot control cabinet, and a robot base. A mechanical arm is correspondingly arranged on the robot body. It is worth noting that the six-axis robot 6 of this embodiment can also directly adopt the existing six-axis robot equipment, which has been very mature in process production, so it will not be elaborated here. In this embodiment, the actions of taking UTG glass and putting down the UTG glass are completed by the six-axis robot. After clamping the entire column, the robot controls the material taking and adsorption device at the end of the mechanical arm to adsorb and take the material, and then the robot rotates and moves to the top of the tempered basket 8.

[0031] The tempered basket clamping mechanism 7 includes a placement plate 701, and four clamping plates 702 distributed in a rectangular shape are correspondingly provided on the placement plate 701. The four clamping plates 702 can be driven to move synchronously inward or outward. The tempered basket 8 is correspondingly placed on the placement plate 701 and located between the four clamping plates 702. The tempered basket 8 is synchronously clamped by the four clamping plates 702.

[0032] Specifically in this embodiment, there are two ways to achieve the synchronous movement of the four clamping plates 702. The first way: the top of the placement plate 701 is provided with clamping cylinder fixing brackets on all sides, and the inner side of the clamping cylinder fixing bracket is correspondingly installed with a clamping cylinder. The four clamping plates 702 are respectively installed at the telescopic ends of the four clamping cylinders, driving the four clamping cylinders to extend synchronously to clamp the tempered basket 8.

[0033] The second method: the placement plate 701 is provided with a corresponding slide groove on all sides, and a movable block 703 is slidably installed in the slide groove. Four clamping plates 702 are respectively installed on the top of the four movable blocks 703. A clamping motor 706 is correspondingly installed in the middle of the bottom end of the placement plate 701. A turntable 704 is correspondingly installed on the output shaft of the clamping motor 706. L-shaped connecting rods 705 are hingedly installed on the edges of the turntable 704. The other ends of the four L-shaped connecting rods 705 are respectively hingedly connected to the bottom of the four movable blocks 703. Both methods can realize the synchronous movement of the four clamping plates 702, and the specific adaptive selection can be made according to the actual production design needs. The tempered basket 8 is clamped and fixed before the UTG glass is inserted into the basket to prevent the tempered basket 8 from moving and ensure the insertion accuracy. After the insertion, the tempered basket 8 is released to complete the process of automatically inserting the tempered basket before the ultra-thin flexible glass is tempered.

[0034] The visual system capture and positioning mechanism 9 includes a visual control cabinet, a visual bracket, a camera and a light source. The visual control cabinet is correspondingly arranged on one side of the tempered basket clamping mechanism 7. The visual control cabinet is correspondingly provided with a visual bracket on the top. The camera is correspondingly installed on the top of the visual bracket through a camera mounting plate. The light source is correspondingly installed on the top of the visual bracket through a light source fixing plate. The camera is correspondingly located above the tempered basket 8, and the light source is correspondingly irradiated on the tempered basket 8. Two rows of slots 801 arranged at intervals are correspondingly provided on the tempered basket 8. When inserting the UTG glass, the present embodiment uses the visual system capture and positioning mechanism 9 to accurately position each slot 801 of the tempered basket 8 in turn, and analyzes and determines whether the slot 801 is deformed, and then feeds back to the control system of the six-axis robot 6, so that the six-axis robot 6 inserts the UTG glass into the slot 801 in the tempered basket 8 that has not been deformed in turn.

[0035] The roller conveying mechanism 1, the incoming material cylinder clamping mechanism 4, the tempered basket clamping mechanism 7, the visual system capture and positioning mechanism 9, the six-axis robot 6, and the material taking and adsorption mechanism 5 are all automatically controlled through the control system. When working, first use the tempered basket clamping mechanism 7 to clamp and fix the tempered basket 8, then put the UTG glass on the conveying steel roller 102 of the roller conveyor mechanism 1, and place it between the two PE guide wheels 2 for conveying; when the photoelectric sensor senses the UTG glass and feeds back to the roller conveyor mechanism 1, the conveying can be stopped, and then the incoming cylinder clamping mechanism 4 is controlled to clamp the UTG glass, and then the six-axis robot 6 controls the material collection adsorption mechanism 5 to move to the fixed material collection position on the roller conveyor mechanism 1, so that the adsorption surface of the material collection adsorption plate is displaced just above the UTG glass, and then the vacuum generator is controlled to adsorb and grab the glass; after the material collection adsorption mechanism 5 adsorbs the UTG glass, the incoming cylinder clamping mechanism 4 is controlled to release the UTG glass; then the six-axis robot 6 lifts the mechanical arm, moves and operates to the top of the tempered basket 8 to prepare for the insertion action of the UTG glass, and captures the positioning mechanism 9 accurately through the visual system The position of the card slot 801 on the tempered basket 8 is captured, and the card slot 801 is analyzed and compared in the system to determine whether it is deformed, and the card slot 801 is fed back to the six-axis robot 6. The six-axis robot 6 adjusts the insertion angle and the insertion position of the basket according to the feedback result, and then inserts the UTG glass into the card slot 801 in the tempered basket 8 without deformation; after the UTG glass completely reaches the insertion position of the basket, the vacuum suction of the vacuum generator is turned off, and the blowing switch is turned on to blow away the UTG glass to ensure that the UTG glass leaves the material collection adsorption plate; at this time, the six-axis robot 6 can control the material collection adsorption plate to withdraw from the tempered basket 8, and the six-axis robot 6 controls the material collection adsorption mechanism 5 to return to the standby position and wait for the next material collection; the cycle is repeated until the UTG glass is fully inserted into the tempered basket 8, and then the tempered basket clamping mechanism 7 starts to release the tempered basket 8, completing the work of automatically inserting the tempered basket 8 before tempering the ultra-thin flexible glass.

[0036] The above-described embodiments only express a certain implementation mode of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the patent scope of the present invention. It should be pointed out that, for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. A device for automatically inserting a tempering basket into an ultra-thin flexible glass before tempering, characterized in that: It comprises a roller conveying mechanism (1) for conveying ultra-thin flexible glass; An incoming material cylinder clamping mechanism (4) is arranged on the top of one side of the roller conveying mechanism (1) close to the material discharging end and is used for clamping the ultra-thin flexible glass; A tempered basket clamping mechanism (7) is arranged on one side of the discharge end of the roller conveying mechanism (1) and is used to clamp and fix the tempered basket (8); A visual system capture and positioning mechanism (9) is disposed on one side of the tempered basket clamping mechanism (7) and is used to accurately capture, position and analyze the card slot (801) on the tempered basket (8); A six-axis robot (6) is arranged between the roller conveying mechanism (1) and the tempered basket clamping mechanism (7); The material taking and adsorption mechanism (5) is arranged at the end of the mechanical arm of the six-axis robot (6) and is used to adsorb and fix the ultra-thin flexible glass, and cooperates with the six-axis robot (6) to grab the ultra-thin flexible glass from the roller conveying mechanism (1) and transfer it to the corresponding card slot (801) on the insertion tempered basket (8).

2. The device for automatically inserting an ultra-thin flexible glass into a tempering basket before tempering according to claim 1, characterized in that: The roller conveying mechanism (1) comprises a conveying frame (101), on which a plurality of conveying steel rollers (102) are rotatably mounted, and two PE guide wheels (2) are correspondingly mounted on both sides of the middle of the conveying steel roller (102); a rotating rod is correspondingly rotatably mounted on one side of the conveying frame (101), one end of the rotating rod is drivingly connected to the output shaft of the driving servo motor (3), a plurality of first magnetic wheels are correspondingly mounted on the rotating rod, and a second magnetic wheel is correspondingly mounted on one end of the conveying steel roller (102), and the second magnetic wheel is connected to the corresponding first magnetic wheel through magnetic transmission.

3. The device for automatically inserting the ultra-thin flexible glass into the tempering basket before tempering according to claim 2, characterized in that: The incoming material cylinder clamping mechanism (4) comprises a cylinder fixing bracket, the cylinder fixing bracket being symmetrically arranged on both sides of the top end of the roller conveying mechanism (1) close to the discharge port, and a cylinder fixing bracket is also correspondingly arranged in the middle of the top end of the roller conveying mechanism (1) The cylinder fixing bracket is correspondingly connected and fixed to the conveying frame (101) of the roller conveying mechanism (1), a driving cylinder is installed on the inner side surface of the cylinder fixing bracket, and a clamping bar is installed at the telescopic end of the driving cylinder, and the clamping bars located on both sides pass through between adjacent PE guide wheels (2), and the clamping bars are correspondingly wrapped with rubber jackets.

4. The device for automatically inserting the ultra-thin flexible glass into the tempering basket before tempering according to claim 3 is characterized in that: The incoming material cylinder clamping mechanism (4) further comprises a photoelectric sensor, which is mounted correspondingly to one side of the material taking position on the roller conveying mechanism (1) and is used to sense whether the ultra-thin flexible glass is incoming.

5. The device for automatically inserting a tempering basket into an ultra-thin flexible glass before tempering according to claim 1, characterized in that: The material picking adsorption mechanism (5) comprises a material picking adsorption plate, the material picking adsorption plate is correspondingly mounted on the end of the mechanical arm of the six-axis robot (6) via an adsorption plate fixing bracket, a plurality of vacuum generators are correspondingly mounted on the top of the material picking adsorption plate, a plurality of protruding adsorption cylinders are correspondingly arranged on the adsorption surface of the bottom of the material picking adsorption plate, and the plurality of protruding adsorption cylinders are respectively connected to the plurality of vacuum generators via separate vacuum air passages.

6. The device for automatically inserting the ultra-thin flexible glass into the tempering basket before tempering according to claim 5, characterized in that: Three vacuum generators are installed on the top of the material taking adsorption plate, and three raised adsorption cylinders are arranged on the adsorption surface at the bottom of the material taking adsorption plate. The three raised adsorption cylinders are distributed in a triangle, and the three raised adsorption cylinders are connected to the three vacuum generators through separate vacuum air passages.

7. The device for automatically inserting a tempering basket into an ultra-thin flexible glass before tempering according to claim 1, characterized in that: The tempered basket clamping mechanism (7) comprises a placement plate (701), and four clamping plates (702) distributed in a rectangular shape are correspondingly arranged on the placement plate (701), and the four clamping plates (702) can be driven to move synchronously inward or outward, and the tempered basket (8) is correspondingly placed on the placement plate (701) and located between the four clamping plates (702), and the tempered basket (8) is synchronously clamped by the four clamping plates (702).

8. The device for automatically inserting the ultra-thin flexible glass into the tempering basket before tempering according to claim 7, characterized in that: Clamping cylinder fixing brackets are correspondingly provided on all four sides of the top of the placement plate (701), and clamping cylinders are correspondingly installed on the inner side surfaces of the clamping cylinder fixing brackets. The four clamping plates (702) are respectively correspondingly installed on the telescopic ends of the four clamping cylinders, driving the four clamping cylinders to extend synchronously to clamp the tempered basket (8).

9. The device for automatically inserting an ultra-thin flexible glass into a tempering basket before tempering according to claim 7, characterized in that: The placement plate (701) is provided with corresponding sliding grooves on all four sides, and a movable block (703) is slidably installed in the sliding groove. The four clamping plates (702) are respectively installed on the top of the four movable blocks (703). A clamping motor (706) is correspondingly installed in the middle of the bottom end of the placement plate (701). A turntable (704) is correspondingly installed on the output shaft of the clamping motor (706). L-shaped connecting rods (705) are hingedly installed at the edges of the four sides of the turntable (704), and the other ends of the four L-shaped connecting rods (705) are respectively hingedly connected to the bottom of the four movable blocks (703).

10. The device for automatically inserting a tempering basket into an ultra-thin flexible glass before tempering according to claim 1, characterized in that: The vision system capture positioning mechanism (9) comprises a vision control cabinet, a vision bracket, a camera and a light source, the vision control cabinet being arranged on one side of the toughened basket clamping mechanism (7), the top of the vision control cabinet being provided with a vision bracket, the camera being mounted on the top of the vision bracket via a camera mounting plate, the light source being mounted on the top of the vision bracket via a light source fixing plate, the camera being located above the toughened basket (8), and the light source being irradiated on the toughened basket (8).

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