Multifunctional glass loading system

Abstract

The invention relates to a multifunctional glass loading system which comprises a loading six-axis robot, a loading gripper, at least one glass placing frame and a carrying conversion roller way, and the loading six-axis robot grabs to-be-loaded glass through the loading gripper and places the to-be-loaded glass on a bearing table top through first posture configuration or second posture configuration; when the loading six-axis robot is configured in the first posture, the loading six-axis robot controls a loading gripper to be located above glass and drives the glass to move downwards to the bearing table top at the same time; when the loading six-axis robot is configured in the second posture, the loading six-axis robot controls the loading gripper to be positioned below the glass and simultaneously drives each branch pipe of the loading gripper to move downwards to a corresponding gap until the glass reaches the bearing table top; and the loading six-axis robot realizes switching from the first posture configuration to the second posture configuration through an overturning action. Diversity of sheet feeding modes can be improved, efficiency is high, and various production requirements are met.

Description

Technical Field

[0001] The invention relates to the technical field of glass loading, in particular to a multifunctional glass loading system. Background Art

[0002] The automatic glass loading mechanism is a device that moves the glass from the glass placement rack to the conveyor table of the glass production line when it is running. The existing loading method is generally to manually operate the gantry-type vacuum suction cup to absorb the glass, such as the invention patent CN203392488U: automatic glass loading device. This structure often requires manual operation, high labor intensity, low automation, low precision, complex operation, and low work efficiency, and cannot meet the automatic, fast and accurate glass loading requirements of automated glass processing.

[0003] In order to solve the above problems existing in manual operation of loading, a Chinese patent such as CN211077669U discloses a three-axis glass automatic loading mechanism and system, including an electric control system, a glass conveying platform, a glass rack for placing the glass to be loaded, and a three-axis glass automatic loading mechanism, which includes a base, a support plate, a rocker arm and a glass suction cup assembly. When working, the three-axis glass loading mechanism sucks the glass from the glass loading glass rack, then moves to the glass conveying platform, places the glass on the glass conveying platform, and completes the glass loading. The three-axis glass automatic loading mechanism of the device is driven by three servo motors, with accurate positioning, fast movement, fast loading speed, and continuous and fast loading; the glass automatic loading system is simple to operate and easy to program. However, the system has a single loading method, only one loading method, the glass cannot be turned over, the conveying direction of the glass cannot be changed, and the spacer paper between the glasses cannot be automatically removed; there is only one glass placement table, which affects the loading efficiency.

[0004] At present, there is no technology in China to solve the problem of single loading method. There is only one loading method, the glass cannot be turned over, the conveying direction of the glass cannot be changed, and there is no way to automatically remove the spacer paper between the glasses. Summary of the invention

[0005] In view of the deficiencies of the existing prior art, the present invention provides a multifunctional glass loading system which can improve the diversity of loading methods, has high efficiency and meets various production needs.

[0006] To achieve the above-mentioned purpose, the present invention provides a multifunctional glass loading system, which has the following technical scheme: it includes a six-axis loading robot, a loading gripper, at least one glass placement rack, and a transport conversion roller, the six-axis loading robot is connected to the loading gripper, the at least one glass placement rack and the transport conversion roller are located within the working radius area of ​​the six-axis loading robot, the six-axis loading robot grabs the glass to be loaded from the at least one glass placement rack through the loading gripper and places it on the transport conversion roller, the loading gripper includes at least two parallel and spaced branch pipes, the branch pipes are provided with adsorption parts for absorbing the glass surface, the transport conversion roller includes a transport conversion base and a transport conversion receiving table surface provided on the transport conversion base, the transport conversion receiving table surface includes parallel and spaced transport conversion receiving table units, Two adjacent transport conversion receiving table units have a first gap, and each of the first gaps is used to accommodate a corresponding branch pipe. The upper six-axis robot grabs the glass to be loaded through the upper gripper and places the glass to be loaded on the transport conversion receiving table through a first posture configuration or a second posture configuration. In the first posture configuration, the upper six-axis robot controls the upper gripper to be located above the glass and drives the glass to move downward to the transport conversion receiving table; in the second posture configuration, the upper six-axis robot controls the upper gripper to be located below the glass and drives the branches of the upper gripper to move downward to the corresponding first gap until the glass reaches the transport conversion receiving table. The upper six-axis robot switches from the first posture configuration to the second posture configuration through a flipping action.

[0007] Preferably, the upper sheet gripper includes at least one connecting tube, the connecting tube is vertically arranged with the branch tube, and the connecting tube is used for transversely connecting the branch tube.

[0008] Preferably, the adsorbent is a first suction cup, and each branch pipe is installed with three to eight first suction cups;

[0009] The upper sheet gripper comprises four to eight parallel branch pipes spaced apart from each other. The first suction cups on every two branch pipes from left to right act simultaneously as a group. Each group of first suction cups has vacuum adsorption, blowing, air-inflating opening and alarm functions. Each group of first suction cups is independent and does not interfere with each other.

[0010] Preferably, the diameter of the second carbon fiber tube is greater than the diameter of the first carbon fiber tube.

[0011] Preferably, the system comprises a paper picking robot, a paper picking gripper, and a paper placing platform, wherein the paper picking robot is connected to the paper picking gripper, and the paper picking robot grabs the glass spacer paper through the paper picking gripper, and at least one of the paper placing platform and the glass placing rack is placed within the working radius area of ​​the paper picking robot;

[0012] The paper picking gripper comprises a paper picking tube, on which three to five groups of second suction cups are evenly installed, each group of second suction cups comprises two to four second suction cups that act simultaneously, each group of second suction cups has vacuum adsorption, air blowing, air pumping and alarm functions, and each group of second suction cups is independent of each other.

[0013] Preferably, an electrostatic ion wind bar is installed on the paper grabber to remove static electricity between the spacer paper and the glass.

[0014] Preferably, the at least one glass rack includes a first glass rack and a second glass rack, the first glass rack includes a pair of A-type glass racks and a turntable, the pair of A-type glass racks are installed on the turntable, and different A-type glass racks are brought close to the six-axis robot for loading the film through the rotation of the turntable, and the second glass rack is a horizontal glass table.

[0015] Preferably, among the at least one glass placement rack, only the first glass placement rack is placed within the working radius area of ​​the paper picking robot.

[0016] Preferably, a climbing platform with a climbing ladder is provided on the turntable, and the climbing platform is located between the pair of A-type glass placement racks.

[0017] Preferably, the system also includes a transition section conveying mechanism, which includes a transition section base and a transition section receiving table arranged on the transition section base, the transition section receiving table includes parallel and spaced transition section receiving table units, two adjacent transition section receiving table units have a second gap, each of the second gaps is used to accommodate a corresponding branch pipe, the upper six-axis robot grabs the glass to be loaded on the transition section receiving table through the upper gripper through the third posture configuration or the fourth posture configuration, in the third posture configuration, the upper six-axis robot controls the upper gripper to be located above the glass and moves downward to the glass to be loaded to grab the upper surface of the glass to be loaded; in the fourth posture configuration, the upper six-axis robot controls the branches of the upper gripper to be inserted into the corresponding second gaps so that the upper gripper is located below the glass to grab the lower surface of the glass to be loaded, and the upper six-axis robot switches from the third posture configuration to the fourth posture configuration through a flipping action.

[0018] The first glass placement rack and the second glass placement rack, the transition section conveying mechanism, and the transport conversion roller are distributed around the working radius area of ​​the loading six-axis robot. The transition section conveying mechanism and the transport conversion roller are adjacent to and vertically arranged. The loading six-axis robot and the paper picking robot are respectively arranged on both sides of one end of the first glass placement rack.

[0019] Preferably, the transition section conveying mechanism is provided with a lifting mechanism, and the lifting mechanism is used to lift the glass to be loaded.

[0020] Preferably, the system comprises a waste rack and a safety fence; and the paper picking robot is a six-axis paper picking robot.

[0021] The multifunctional glass loading system of the present invention has the advantages of accurate positioning, rapid action, high loading speed, and can load films continuously and quickly; flexible film retrieval, multiple film retrieval positions, multiple film placement and retrieval methods, and can meet various production processes; high degree of automation, reduced labor costs, and improved system operation safety factor. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below.

[0023] Figure 1 It is a schematic structural diagram of the multifunctional glass loading system of the present invention.

[0024] Figure 2 It is a schematic diagram of the structure of the six-axis loading robot and the loading gripper in the multifunctional glass loading system of the present invention.

[0025] Figure 3 It is a schematic diagram of the structure of the paper picking robot and the paper picking gripper in the multifunctional glass loading system of the present invention.

[0026] Figure 4 It is a schematic structural diagram of the first glass placement rack in the multifunctional glass loading system of the present invention.

[0027] Figure 5 It is a schematic diagram of the structure of the conveying and conversion roller in the multifunctional glass loading system of the present invention.

[0028] Figure 6 It is a schematic diagram of the structure of the cooperation between the transport conversion roller and the loading gripper in the multifunctional glass loading system of the present invention. DETAILED DESCRIPTION

[0029] In order to more clearly describe the technical content of the present invention, it is further described below in conjunction with specific embodiments.

[0030] In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0031] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" 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 the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] like Figures 1 to 6 As shown, it is a specific embodiment of the multifunctional glass loading system of the present invention, which is particularly suitable for multiple loading methods of TFT glass of multiple specifications. Among them, the glass loading system includes a six-axis loading robot 1, a loading gripper 2, a paper picking robot 3, a paper picking gripper 4, a paper placing table 5, a first glass placement rack 7 and a second glass placement rack 6, a transition section conveying mechanism 9, a handling conversion roller 10, a waste rack 11 and a safety fence 12. The transition section conveying mechanism 9 is for the front-end process to convey the film, and a lifting mechanism is set. The lifting mechanism is used to lift the glass to be loaded 16. When the glass is in place, the lifting mechanism lifts the glass, so that the loading gripper can take the film from here, satisfying the loading gripper to take the glass up or down. The safety fence can be provided with a safety grating and a door lock. When the door lock is opened or the safety grating is triggered, the system stops working, which prevents people from accidentally entering the working area and causing harm to people, thereby improving the system's operating safety factor.

[0033] like Figure 1 and Figure 2 As shown, the six-axis loading robot 1 is connected to the loading gripper 2, and the six-axis loading robot 1 grabs the glass 16 to be loaded through the loading gripper 2 and places it on the transport conversion roller 10. Figure 1 In the illustrated situation, the six-axis loading robot 1 is grabbing the glass 16 to be loaded on the second glass placement rack 6 through the loading gripper 1 .

[0034] like Figure 2 and Figure 5As shown, the upper sheet gripper 2 includes six parallel and spaced branch pipes 13, and the branch pipes 13 are provided with adsorption parts for absorbing the glass surface. The transport conversion roller 10 includes a transport conversion base 20 and a transport conversion receiving table arranged on the transport conversion base. The transport conversion receiving table includes parallel and spaced transport conversion receiving table units 21, and two adjacent transport conversion receiving table units 21 have a first gap 22, such as Figure 6 As shown, each of the first gaps 22 is used to accommodate a corresponding branch pipe 13. The upper six-axis robot grabs the glass to be loaded through the upper gripper 2 and places the glass to be loaded on the transport conversion receiving table through the first posture configuration or the second posture configuration. In the first posture configuration, the upper six-axis robot 1 controls the upper gripper 2 to be located above the glass and drives the glass to move downward to the transport conversion receiving table; in the second posture configuration, the upper six-axis robot 1 controls the upper gripper 2 to be located below the glass and drives the branches of the upper gripper 2 to move downward to the corresponding first gaps until the glass reaches the transport conversion receiving table. The upper six-axis robot 1 switches from the first posture configuration to the second posture configuration through a flipping action.

[0035] Based on the above-mentioned arrangement of the present invention, the placement of different surfaces of glass on the transport conversion roller 10 can be realized. The example in which the upper six-axis robot 1 with the upper gripper 2 has adsorbed the air surface of the glass is used for explanation. When the air surface of the glass needs to face up on the transport conversion roller 10, the upper six-axis robot does not flip over, and directly places the glass on the transport conversion roller 10 in the first posture configuration; when the tin surface of the glass needs to face up on the transport conversion roller 10, the upper six-axis robot 1 with the upper gripper 2 flips 180°, and places the glass on the transport conversion roller 10 in the second posture configuration.

[0036] like Figure 2 As shown, the upper sheet gripper includes two parallel and spaced connection pipes 14, the connection pipe 14 is arranged perpendicular to the branch pipe 13, and the connection pipe 14 is used to transversely connect the branch pipe 13. Both the connection pipe 14 and the branch pipe 13 can use carbon fiber tubes. The connection pipe 14 serves as the main beam connection pipe. The diameter of the connection pipe 14 can be greater than the diameter of the branch pipe 13.

[0037] In this embodiment, the adsorption member is a first suction cup 15 , and each branch pipe 13 is installed with six first suction cups 15 .

[0038] The upper sheet gripper includes six parallel branch pipes 13 distributed at intervals. From left to right, the first suction cups on every two branch pipes 13 act simultaneously as a group, so that the first suction cups on the six branch pipes 13 form three groups of first suction cups. Each group of first suction cups has vacuum adsorption, blowing, air opening and alarm functions. Each function can be switched through a solenoid valve. Each group of first suction cups is independent and connected to the vacuum pipeline and compressed air pipeline through their own solenoid valves without interfering with each other. In this way, it can be compatible with G8.5, G8.6, G8.7 products of different sizes to take sheets without disassembling the carbon fiber rod.

[0039] like Figure 1 and Figure 3 As shown, the system includes a paper picking robot 3, a paper picking gripper 4, and a paper placing table, wherein the paper picking robot 3 is connected to the paper picking gripper 4, and the paper picking robot 3 grabs the glass spacer paper through the paper picking gripper 4. The paper picking robot 3 is a six-axis paper picking robot.

[0040] like Figure 1 As shown, the arrangement of the various devices of the glass loading system of the present invention is that the first glass placing rack 7 and the second glass placing rack 6, the transition section conveying mechanism 9, and the transport conversion roller 10 are all located within the working radius area of ​​the loading six-axis robot 1; the paper placing table 5 and the first glass placing rack 7 are placed within the working radius area of ​​the paper picking robot 3. Specifically, the first glass placing rack 7 and the second glass placing rack 6, the transition section conveying mechanism 9, and the transport conversion roller 10 are distributed around the working radius area of ​​the loading six-axis robot 1, the transition section conveying mechanism 9 and the transport conversion roller 10 are adjacent and vertically arranged, when the glass is on the transition section conveying mechanism 9, the short side of the glass is in the transport flow direction; when placed on the transport conversion roller 10, the long side of the glass is in the transport flow direction; the loading six-axis robot 1 and the paper picking robot 3 are respectively arranged on both sides of one end of the first glass placing rack 7.

[0041] The glass loading system of the present invention adopts a six-axis loading robot to grab glass from an A-type glass placement rack or a horizontal glass placement table and place it horizontally on a conveyor line, and a six-axis paper picking robot takes glass isolation paper from the A-type glass placement rack and places it on the placement table; or a six-axis loading robot takes glass from a transition section conveyor line and rotates 180 degrees to place it on the conveyor line. The following problems in the prior art are overcome: the loading position is unique, and it can only be moved from one place to the conveyor line, and it is not possible to take glass from multiple positions; the loading method is single, and there are no multiple loading methods; there is only one working area of ​​the glass placement table, and when the glass placement rack is changed, the loading needs to wait, which delays production efficiency; the existence of glass isolation paper is not considered, and there is no mechanism to take the glass isolation paper.

[0042] The six-axis robot for loading glass can be turned over to drive the gripper to turn over and change the orientation of the glass when it is placed. A horizontal moving table can be set up, and the robot can be moved by linear guides, servo motors, and ball screws to change the position of the six-axis gripper to take the glass. The position of the A-type glass placement rack and the horizontal glass placement rack can be adjusted according to the production space. Within the space allowed, the gripper flange can be moved to the outside of the roller to avoid the roller (grip finger side length), and the transition section conveying mechanism can be designed without a lifting mechanism, and the gripper can directly take out the glass from the bottom of this section of the conveying mechanism.

[0043] like Figure 3 As shown, the paper picking gripper 4 includes a paper picking tube 17, and four groups of second suction cups are evenly installed on the paper picking tube 17. Each group of second suction cups includes three second suction cups 18 that act simultaneously. Each group of second suction cups has vacuum adsorption, blowing, air opening and alarm functions. The functions can be switched through solenoid valves. Each group of second suction cups is independent and is connected to the vacuum pipeline and compressed air pipeline through their own solenoid valves without interfering with each other.

[0044] The paper grabber 4 is provided with an electrostatic ion wind rod for removing static electricity between the spacer paper and the glass.

[0045] The paper picking robot can adopt a cantilever mechanism with two motors. One motor drives the cantilever to rotate left and right; the other motor drives the cantilever to move up and down; when the upper sheet gripper takes the sheet, the cantilever grabs the spacer paper at the top at the same time, the upper sheet gripper takes the glass away, and the cantilever takes the spacer paper away again, and the motor drives the cantilever to rotate. When it rotates to the paper placement table, the motor drives the cantilever to move downward and place the paper on the paper placement table.

[0046] In this embodiment, two glass racks are provided, namely, a first glass rack 7 and a second glass rack 6. Figure 1 As shown, the first glass placement rack 7 includes a pair of A-type glass placement racks and a turntable 8. The pair of A-type glass placement racks are installed on the turntable 8. The turntable 8 rotates to make different A-type glass placement racks approach the six-axis loading robot 1. Figure 1 and Figure 2 As shown, the second glass rack 6 is a horizontal glass rack. The turntable 8 can be rotated by a motor. The turntable has the function of fixing the A-type glass rack and is designed with limit and positioning functions; the turntable can rotate ±180°. The turntable can hold two A-type glass racks. When there is no glass on one A-type glass rack, the turntable rotates 180° to take a piece from another A-type glass rack, thereby solving the problem of delaying production when changing the A-type glass rack.

[0047] In this embodiment, considering the arrangement of various components in the system, only the first glass placement rack 7 is placed within the working radius area of ​​the paper picking robot 3 .

[0048] The system also includes a transition section conveying mechanism, which includes a transition section base and a transition section receiving table arranged on the transition section base, the transition section receiving table includes parallel and spaced transition section receiving table units, two adjacent transition section receiving table units have a second gap, each of the second gaps is used to accommodate a corresponding branch pipe, the upper six-axis robot grabs the glass to be loaded on the transition section receiving table through the upper gripper through the third posture configuration or the fourth posture configuration, in the third posture configuration, the upper six-axis robot controls the upper gripper to be located above the glass and moves downward to the glass to be loaded to grab the upper surface of the glass to be loaded; in the fourth posture configuration, the upper six-axis robot controls the branches of the upper gripper to be inserted into the corresponding second gaps so that the upper gripper is located below the glass to grab the lower surface of the glass to be loaded, and the upper six-axis robot switches from the third posture configuration to the fourth posture configuration through a flipping action.

[0049] like Figure 4 As shown, a climbing platform with a climbing escalator 19 is provided on the turntable 8, and the climbing platform is located between the pair of A-type glass placement racks.

[0050] Based on the glass loading system of the present invention, at least the following glass loading methods can be realized, which improves the diversity of loading methods, is efficient, and can meet various production needs of customers:

[0051] Loading method 1: The loading gripper sucks the air side of the glass substrate from the A-type glass rack, places it on the conveying conversion roller with the tin side facing upward, and the paper picking gripper takes the glass spacer paper and places it on the paper placing table; or, the loading gripper sucks the air side of the glass substrate from the A-type glass rack, places it on the conveying conversion roller with the air side facing upward, and the paper picking gripper takes the glass spacer paper and places it on the paper placing table. Specifically:

[0052] The system sends a command to take the glass on the A-type glass rack. The upper six-axis robot 1 moves with the upper gripper 2 (empty gripper) to the A-type glass rack. The suction cup of the upper gripper 2 absorbs the glass. The paper picking robot 3 moves with the paper picking gripper 4 to the A-type glass rack to absorb the glass spacer paper. The upper six-axis robot 1 moves with the upper gripper 2 (glass absorbed) to the top of the transport conversion roller 10; if the system sends out that the glass is facing up on the transport conversion roller 10, the upper six-axis robot 1 turns 180° with the upper gripper 2 (glass absorbed), and then places the glass on the transport conversion roller 10; if the system sends out that the glass is facing up on the air side of the transport conversion roller 10, it does not turn over, and directly places the glass on the transport conversion roller 10; when there is no glass on one A-type glass rack on the turntable 8, the turntable 8 rotates 180°, and the upper gripper 2 (empty gripper) can grab the glass on another A-type glass rack.

[0053] Loading method 2: The loading gripper sucks the air side of the glass from the horizontal glass placement table, places it on the transfer roller with the tin side facing upward, and manually removes the glass spacer paper; or, the loading gripper sucks the air side of the glass substrate from the horizontal glass placement table, places it on the transfer roller with the air side facing upward, and manually removes the spacer paper between the glass substrates. Specifically:

[0054] The system sends a command to take the glass on the horizontal glass placement table 6, and the upper six-axis robot 1 moves with the upper gripper 2 (empty gripper) to the second glass placement rack 6. The suction cup of the upper gripper 2 absorbs the glass, and the upper six-axis robot 1 moves with the upper gripper 2 (glass absorbed) to the top of the transport conversion roller 10, and the glass spacer paper on the second glass placement rack 6 is manually taken away. If the system sends a signal that the glass is on the transport conversion roller 10 with the tin side facing up, the upper six-axis robot 1 turns 180° with the upper gripper 2 (glass absorbed), and then places the glass on the transport conversion roller 10; if the system sends a signal that the glass is on the transport conversion roller 10 with the air side facing up, it does not turn over, and directly places the glass on the transport conversion roller 10;

[0055] Loading method 3: The loading gripper grabs the glass from the transition section conveying mechanism and places it on the conveying conversion roller with the air side facing up.

[0056] The system sends a command to take the glass on the transition section conveying mechanism 9 (the air side of the glass is facing downward at this time), and the upper six-axis robot 1 moves with the upper gripper 2 (empty gripper) to the transition section conveying mechanism 9, and the lifting mechanism of the transition section conveying mechanism 9 lifts the glass; if the system issues a command to take the glass under the transition section conveying mechanism 9, and the tin side is facing upward on the transport conversion roller 10, the suction cup of the upper gripper 2 absorbs the air side of the glass from the bottom of the transition section conveying mechanism 9, and the upper six-axis robot 1 moves with the upper gripper 2 (with the glass absorbed) to the top of the transport conversion roller 10, and then places the glass on the transport conversion roller 10;

[0057] Loading method 4: The loading gripper grabs the glass from the bottom of the transition section conveyor mechanism and places it on the conveying conversion roller with the tin side facing up.

[0058] The system sends a command to take the glass on the transition section conveying mechanism 9 (the air side of the glass is facing downward at this time), and the upper six-axis robot 1 moves with the upper gripper 2 (empty gripper) to the transition section conveying mechanism 9, and the lifting mechanism of the transition section conveying mechanism 9 lifts the glass; if the system issues a command to take the glass under the transition section conveying mechanism 9, and the air side is facing upward on the transport conversion roller 10, the suction cup of the upper gripper 2 absorbs the air side of the glass from the bottom of the transition section conveying mechanism 9, and the upper six-axis robot 1 moves with the upper gripper 2 (glass absorbed) to the top of the transport conversion roller 10, and the upper six-axis robot 1 turns 180° with the upper gripper 2 (glass absorbed), and then places the glass on the transport conversion roller 10;

[0059] Loading method 5: The loading gripper grabs the glass from the transition section conveyor mechanism and places it on the conveying conversion roller with the tin side facing up.

[0060] The system sends a command to take the glass on the transition section conveying mechanism 9 (the air side of the glass is facing downward at this time), and the upper six-axis robot 1 moves with the upper gripper 2 (empty gripper) to the transition section conveying mechanism 9, and the lifting mechanism of the transition section conveying mechanism 9 lifts the glass; if the system issues a command to take the glass on the transition section conveying mechanism 9, and the air side is facing upward on the transport conversion roller 10, the suction cup of the upper gripper 2 absorbs the tin surface of the glass from above the transition section conveying mechanism 9, and the upper six-axis robot 1 moves with the upper gripper 2 (glass absorbed) to above the transport conversion roller 10, and the upper six-axis robot 1 turns 180° with the upper gripper 2 (glass absorbed), and then places the glass on the transport conversion roller 10;

[0061] Loading method 6: The loading gripper grabs the glass from the transition section conveying mechanism and places it on the conveying conversion roller with the air side facing upwards.

[0062] The system sends an instruction to take the glass on the transition section conveying mechanism 9 (the air side of the glass is facing downward at this time), and the upper six-axis robot 1 moves with the upper gripper 2 (empty gripper) to the transition section conveying mechanism 9, and the lifting mechanism of the transition section conveying mechanism 9 lifts the glass; if the system issues an instruction to take the glass on the transition section conveying mechanism 9, and the tin side is facing upward on the transport conversion roller 10, the suction cup of the upper gripper 2 absorbs the tin side of the glass from above the transition section conveying mechanism 9, and the upper six-axis robot 1 moves with the upper gripper 2 (glass has been absorbed) to above the transport conversion roller 10, and directly places the glass on the transport conversion roller 10.

[0063] The multifunctional glass loading system of the present invention has the advantages of accurate positioning, rapid action, high loading speed, and can load films continuously and quickly; flexible film retrieval, multiple film retrieval positions, multiple film placement and retrieval methods, and can meet various production processes; high degree of automation, reduced labor costs, and improved system operation safety factor.

[0064] In this specification, the present invention has been described with reference to specific embodiments thereof. However, it is apparent that various modifications and variations may be made without departing from the spirit and scope of the present invention. Therefore, the specification and drawings should be regarded as illustrative rather than restrictive.

Claims

1. A multifunctional glass loading system, characterized in that: The present invention comprises a six-axis loading robot, a loading gripper, at least one glass placement rack, and a transport conversion roller, wherein the six-axis loading robot is connected to the loading gripper, the at least one glass placement rack and the transport conversion roller are located within the working radius area of ​​the six-axis loading robot, the six-axis loading robot grabs the glass to be loaded from the at least one glass placement rack through the loading gripper and places it on the transport conversion roller, the loading gripper comprises at least two parallel and spaced branch pipes, the branch pipes are provided with adsorption parts for absorbing the glass surface, the transport conversion roller comprises a transport conversion base and a transport conversion receiving table surface provided on the transport conversion base, the transport conversion receiving table surface comprises parallel and spaced transport conversion receiving table units, and two adjacent transport conversion receiving table units have The first gap, each of the first gaps is used to accommodate a corresponding branch pipe, the upper six-axis robot grabs the glass to be loaded through the upper gripper and places the glass to be loaded on the transport conversion receiving table through the first posture configuration or the second posture configuration. In the first posture configuration, the upper six-axis robot controls the upper gripper to be located above the glass and drives the glass to move downward to the transport conversion receiving table; in the second posture configuration, the upper six-axis robot controls the upper gripper to be located below the glass and drives the branches of the upper gripper to move downward to the corresponding first gap until the glass reaches the transport conversion receiving table, and the upper six-axis robot switches from the first posture configuration to the second posture configuration through a flipping action.

2. The multifunctional glass loading system according to claim 1, characterized in that: The upper sheet gripper comprises at least one connecting pipe, the connecting pipe is arranged perpendicularly to the branch pipe, and the connecting pipe is used for transversely connecting the branch pipe.

3. The multifunctional glass loading system according to claim 1, characterized in that: The adsorbent is a first suction cup, and each branch pipe is equipped with three to eight first suction cups; The upper sheet gripper comprises four to eight parallel branch pipes spaced apart from each other. The first suction cups on every two branch pipes from left to right act simultaneously as a group. Each group of first suction cups has vacuum adsorption, blowing, air-inflating opening and alarm functions. Each group of first suction cups is independent and does not interfere with each other.

4. The multifunctional glass loading system according to claim 1, characterized in that: The system comprises a paper picking robot, a paper picking gripper, and a paper placing platform, wherein the paper picking robot is connected to the paper picking gripper, and the paper picking robot grabs the glass spacer paper through the paper picking gripper, and at least one of the paper placing platform and the glass placing rack is placed within the working radius area of ​​the paper picking robot; The paper picking gripper comprises a paper picking tube, on which three to five groups of second suction cups are evenly installed, each group of second suction cups comprises two to four second suction cups that act simultaneously, each group of second suction cups has vacuum adsorption, air blowing, air pumping and alarm functions, and each group of second suction cups is independent of each other.

5. The multifunctional glass loading system according to claim 4, characterized in that: The paper grabber is provided with an electrostatic ion wind rod for removing static electricity between the spacer paper and the glass.

6. The multifunctional glass loading system according to claim 1, characterized in that: The at least one glass placing rack includes a first glass placing rack and a second glass placing rack, the first glass placing rack includes a pair of A-type glass placing racks and a turntable, the pair of A-type glass placing racks are installed on the turntable, and different A-type glass placing racks are brought close to the six-axis loading robot through the rotation of the turntable, and the second glass placing rack is a horizontal glass placing table.

7. The multifunctional glass loading system according to claim 6, characterized in that: Among the at least one glass placement rack, only the first glass placement rack is placed within the working radius area of ​​the paper picking robot.

8. The multifunctional glass loading system according to claim 6, characterized in that: The system also includes a transition section conveying mechanism, which includes a transition section base and a transition section receiving table arranged on the transition section base, the transition section receiving table includes parallel and spaced transition section receiving table units, two adjacent transition section receiving table units have a second gap, each of the second gaps is used to accommodate a corresponding branch pipe, the upper six-axis robot grabs the glass to be loaded on the transition section receiving table through the upper gripper through the third posture configuration or the fourth posture configuration, in the third posture configuration, the upper six-axis robot controls the upper gripper to be located above the glass and moves downward to the glass to be loaded to grab the upper surface of the glass to be loaded; in the fourth posture configuration, the upper six-axis robot controls the branches of the upper gripper to be inserted into the corresponding second gaps so that the upper gripper is located below the glass to grab the lower surface of the glass to be loaded, and the upper six-axis robot switches from the third posture configuration to the fourth posture configuration through a flipping action.

9. The multifunctional glass loading system according to claim 8, characterized in that: The first glass placement rack and the second glass placement rack, the transition section conveying mechanism, and the transport conversion roller are distributed around the working radius area of ​​the loading six-axis robot, the transition section conveying mechanism and the transport conversion roller are adjacent and vertically arranged, and the loading six-axis robot and the paper picking robot are respectively arranged on both sides of one end of the first glass placement rack; The transition section conveying mechanism is provided with a lifting mechanism, and the lifting mechanism is used to lift the glass to be loaded.

10. The multifunctional glass loading system according to claim 1, characterized in that: The system comprises a waste rack and a safety fence; the paper picking robot is a six-axis paper picking robot.

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