Rod type paper taking device for loading large-size substrate glass

Abstract

The invention discloses a rod type paper taking device for loading large-size substrate glass, and relates to the field of glass processing. The paper taking device is used in cooperation with a horizontal pushing type A-shaped frame rotary table and comprises a base assembly, a lifting mechanism installed on the top of the base assembly and a paper taking rod mechanism installed on the lifting mechanism, a large paper taking arm is installed on a paper taking lifting rod in a sliding mode, and a small paper taking arm is installed at the tail end of the working side of the large paper taking arm. One end of the first-level load pull rod is connected to a paper taking arm tower cap vertically installed above the working side of the large paper taking arm, the other end of the first-level load pull rod is connected with the second-level load pull rods through pull rod connectors, a first-level load pull rod adjuster is installed in the middle, and the other ends of the second-level load pull rods are connected to all parts of the upper end face of the small paper taking arm respectively. Secondary load pull rod adjusters are respectively mounted in the middle; the lower end face of the small paper taking arm is provided with a plurality of paper taking suction cups and paper taking clamping jaws. The paper taking rod is used for solving the problems that the tail end of a traditional paper taking rod droops, deforms and shakes, and paper taking precision and operation efficiency are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of glass processing, and in particular relates to a rod-type paper taking device for loading large-size substrate glass. Background Art

[0002] With the wide application of large-size substrate glass in display, photovoltaic and other fields, its production efficiency and quality have become the focus of industry attention. At present, large-size substrate semi-finished glass is usually packaged in A-frames for easy transportation and storage. During processing, the glass is taken out by a flip machine or robot and placed on the processing input splicing table.

[0003] In the prior art, there are two main solutions for A-frame paper picking: one is to use a paper picking robot, which has a good paper picking effect, but has a high initial investment and high operating and maintenance costs due to its complex structure. The other is to use a paper picking rod. Compared with the paper picking robot, the paper picking rod has the advantages of low initial investment, simple structure, and low operating and maintenance costs, but has a general paper picking effect and many disadvantages.

[0004] 1. End droop and deformation: Since the paper picking rod is long, its end is prone to droop under the action of gravity, resulting in a decrease in the positioning accuracy when picking up paper; at the same time, the rod itself may also be deformed due to uneven force, further affecting the positioning accuracy.

[0005] 2. Jitter problem: When the paper picking rod is moving, it is easy to jitter due to the high linear speed at the end, which not only reduces the alignment speed, but also may cause damage to the substrate glass.

[0006] 3. Gravity imbalance and short life: Since the center of gravity of the paper picking rod is far away from the rotation axis, the paper picking lifting rod is easily deformed due to gravity imbalance, which not only affects the paper picking effect, but may also shorten the life of the paper picking rod.

[0007] In summary, the above two paper picking methods have their own advantages and disadvantages. Robotic paper picking is not related to this patent and will not be elaborated. The paper picking rod paper picking method has the disadvantages of sagging at the end of the paper picking rod, deformation of the paper picking rod leading to difficulty in alignment, short life of the paper picking rod lifting device due to unbalanced weight, and long paper picking cycle due to shaking at the end of the paper picking rod. Therefore, it is very important to develop a highly stable and precisely aligned anti-shake rod paper picking device. Summary of the invention

[0008] The present invention provides a rod-type paper picking device for large-size substrate glass, which solves the problems of sagging, deformation and shaking of the end of a traditional paper picking rod, and improves the paper picking accuracy and operation efficiency.

[0009] The technical solutions used in the present invention are as follows:

[0010] A rod-type paper picking device for large-size substrate glass is used in conjunction with a push-type A-frame turntable, comprising a base assembly, a lifting mechanism installed on the top of the base assembly, and a paper picking rod mechanism installed on the lifting mechanism.

[0011] The paper picking rod mechanism comprises a paper picking arm and a paper picking arm, wherein the paper picking arm is slidably mounted on the paper picking lifting rod, the paper picking arm is mounted at the end of the working side of the paper picking arm, and a paper picking arm tower cap is vertically mounted above the working side of the paper picking arm;

[0012] The paper picking rod mechanism also includes a primary load rod and a secondary load rod assembly, one end of the primary load rod is connected to the top of the paper picking arm tower cap, and the other end is connected to a rod connector, a primary load rod regulator is installed in the middle of the primary load rod, and the secondary load rod assembly includes a plurality of secondary load rods, one end of each of the secondary load rods is connected to the rod connector, and the other end is respectively connected to various parts of the upper end surface of the paper picking arm, a secondary load rod regulator is installed in the middle of each of the secondary load rods, and a plurality of secondary load rod regulators constitute a secondary load rod regulator assembly;

[0013] A plurality of paper picking suction cups and paper picking clamps are installed on the lower end surface of the paper picking arm.

[0014] Furthermore, the base assembly includes a paper picking arm base and a rotating mechanism, wherein the rotating mechanism is installed above the paper picking arm base, and the rotating mechanism can drive the lifting mechanism and the paper picking rod mechanism to rotate axially.

[0015] Furthermore, the lifting mechanism includes a paper picking lifting rod and a driving device, and the driving device drives the paper picking arm to move up and down along the paper picking lifting rod.

[0016] Furthermore, the paper picking rod mechanism also includes a paper picking arm counterweight, and the paper picking arm counterweight is installed on the counterweight side of the paper picking arm.

[0017] Furthermore, the paper picking rod mechanism also includes a balancing rod, one end of which is connected to the top of the paper picking arm tower cap, and the other end of which is connected to the side of the paper picking arm close to the paper picking lifting rod. The paper picking arm, the balancing rod and the paper picking arm tower cap form a right triangle structure.

[0018] Furthermore, the paper picking rod mechanism also includes a primary pull rod viscous damper, and the primary pull rod viscous damper is installed in the middle of the primary load pull rod.

[0019] Further, the secondary load tie rod assembly includes three secondary load tie rods, namely, a secondary load front end tie rod, a secondary load middle end tie rod and a secondary load rear end tie rod, the two ends of the secondary load front end tie rod are connected to the tie rod connector and the upper end surface of the front end of the paper picking arm, the two ends of the secondary load middle end tie rod are connected to the tie rod connector and the upper end surface of the middle end of the paper picking arm, and the two ends of the secondary load rear end tie rod are connected to the tie rod connector and the upper end surface of the rear end of the paper picking arm;

[0020] The secondary load rod adjuster assembly includes three secondary load rod adjusters, including a secondary load front end rod adjuster, a secondary load middle end rod adjuster and a secondary load rear end rod adjuster. The secondary load front end rod adjuster is installed in the middle of the secondary load front end rod, the secondary load middle end rod adjuster is installed in the middle of the secondary load middle end rod, and the secondary load rear end rod adjuster is installed in the middle of the secondary load rear end rod.

[0021] Furthermore, the middle end pull rod of the secondary load is perpendicular to the paper picking arm.

[0022] Furthermore, the paper picking suction cups are arranged in groups, and each group of the paper picking suction cups is provided with 2-3 paper picking suction cups.

[0023] Furthermore, the paper pickup suction cup and the paper pickup clamp are installed at intervals, the distance between the paper pickup clamps is not greater than 60 cm, and the distance between the paper pickup suction cup groups is not greater than 60 cm.

[0024] The beneficial effects of the present invention are:

[0025] 1. The present invention introduces a primary load tie rod and a secondary load tie rod assembly to perform fine load balancing and stability control on the paper pickup arm. The primary load tie rod adjuster is used to adjust the horizontality of the paper pickup arm, while the secondary load tie rod assembly acts on various parts of the upper end surface of the paper pickup arm through multiple secondary load tie rods and their adjusters to ensure the straightness and overall stability of the lower end surface of the paper pickup arm. This multi-level load balancing design effectively reduces the sagging and deformation caused by gravity, thereby improving the stability and alignment accuracy of paper pickup.

[0026] 2. The present invention effectively balances the load of the paper picking arm through a multi-level load balancing design, reduces the wear and deformation caused by unbalanced weight, not only prolongs the life of the paper picking rod mechanism and the lifting device, but also reduces the maintenance cost caused by frequent repairs and replacement of parts.

[0027] 3. The present invention effectively eliminates the jitter of the paper picking rod during the lifting, picking and placing processes by introducing the primary pull rod viscous damping. This design significantly improves the stability of the paper picking operation, ensures the stability of the substrate glass during the transmission process, and thus reduces the risk of substrate glass damage caused by jitter. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a front view of the rod-type paper picking device for loading large-size substrate glass provided by the present invention.

[0029] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0030] 1. Paper picking arm base; 2. Rotating mechanism; 3. Paper picking lifting rod; 4. Paper picking arm; 5. Paper picking arm; 6. Paper picking arm counterweight; 7. Paper picking arm tower cap; 8. Balance rod; 9. Rod connector; 10. Primary load rod; 11. Secondary load rod assembly; 12. Primary load rod adjuster; 13. Secondary load rod adjuster assembly; 14. Primary rod viscous damping; 15. Paper picking suction cup; 16. Paper picking claw; 111. Secondary load front rod; 112. Secondary load middle rod; 113. Secondary load rear rod; 131. Secondary load front rod adjuster; 132. Secondary load middle rod adjuster; 133. Secondary load rear rod adjuster. DETAILED DESCRIPTION

[0031] 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.

[0032] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings.

[0033] like Figure 1 As shown, this embodiment provides a rod-type paper picking device for large-size substrate glass, which is used in conjunction with a push-type A-frame turntable, and includes a base assembly, a lifting mechanism and a paper picking rod mechanism. The lifting mechanism is installed on the top of the base assembly, and the paper picking rod mechanism is installed on the lifting mechanism.

[0034] Specifically, the base assembly includes a paper picking arm base 1 and a swivel mechanism 2. The paper picking arm base 1 is installed in the upper sheet area, and the swivel mechanism 2 is installed above the paper picking arm base 1. The swivel mechanism 2 can drive the lifting mechanism and the paper picking rod mechanism to rotate axially to realize the switching of the paper picking rod mechanism between different workstations. In this embodiment, when the swivel mechanism 2 axially rotates to the R- gear position, the paper picking rod mechanism is parallel to the paper clamping temporary storage rack; when the swivel mechanism 2 axially rotates to the R+ gear position, the paper picking rod mechanism is parallel to the upper edge of the A-frame.

[0035] Specifically, the lifting mechanism includes a paper picking lifting rod 3 and a driving device, and the driving device paper picking rod mechanism moves up and down along the paper picking lifting rod 3 to meet the needs of picking up paper at different heights. In this embodiment, when the lifting mechanism is adjusted to Z-, the paper picking rod mechanism is 25 cm higher than the paper clamping storage rack; when the lifting mechanism is adjusted to Z+, the paper picking rod mechanism is about 20 cm higher than the upper edge of the glass placed on the A-frame, with the principle that the paper picking clamp 16 does not touch the glass.

[0036] Specifically, the paper picking rod mechanism includes a paper picking arm 4, a paper picking arm 5, and a paper picking arm counterweight 6. The paper picking arm 4 is slidably installed on the paper picking lifting rod 3, the paper picking arm 5 is installed at the end of the working side of the paper picking arm 4, and the paper picking arm counterweight 6 is installed on the counterweight side of the paper picking arm 4 to balance the load of the paper picking arm and reduce the wear of the paper picking lifting rod 3 caused by unbalanced counterweight.

[0037] The paper picking rod mechanism also includes a paper picking arm tower cap 7 and a balancing rod 8. The paper picking arm tower cap 7 is vertically installed above the working side of the paper picking arm 4. One end of the balancing rod 8 is connected to the top of the paper picking arm tower cap 7, and the other end of the balancing rod 8 is connected to the side of the paper picking arm 4 close to the paper picking lifting rod 3. The paper picking arm 4, the balancing rod 8 and the paper picking arm tower cap 7 form a stable structure of a right triangle.

[0038] The paper picking rod mechanism also includes a secondary load rod assembly 11. One end of the primary load rod 10 is connected to the top of the paper picking arm tower cap 7, and the other end is connected to the rod connector 9. A primary load rod adjuster 12 and a primary rod viscous damper 14 are installed in the middle of the primary load rod 10, wherein the primary load rod adjuster 12 is used to adjust the horizontality of the paper picking arm 5, and the primary rod viscous damper 14 is used to eliminate the jitter generated by the paper picking rod lifting process, paper picking process, and paper placing process, thereby improving the paper picking speed; the secondary load rod assembly 11 includes a plurality of secondary load rods, each of which is connected to the rod connector 9 at one end and is respectively connected to various parts of the upper end surface of the paper picking arm 5 at the other end, and a secondary load rod adjuster is installed in the middle of each secondary load rod, and a plurality of secondary load rod adjusters constitute a secondary load rod adjuster assembly 13, and each secondary load rod adjuster cooperates with each other to adjust the straightness of the lower end surface of the paper picking arm 5.

[0039] Specifically, in this embodiment, the secondary load tie rod assembly 11 includes three secondary load tie rods, namely, a secondary load front end tie rod 111, a secondary load middle end tie rod 112 and a secondary load rear end tie rod 113. The two ends of the secondary load front end tie rod 111 are connected to the tie rod connector 9 and the upper end surface of the front end of the paper pickup arm 5, the two ends of the secondary load middle end tie rod 112 are connected to the tie rod connector 9 and the upper end surface of the middle end of the paper pickup arm 5, and the two ends of the secondary load rear end tie rod 113 are connected to the tie rod connector 9 and the rear end of the paper pickup arm 5. Upper end surface; the secondary load tie rod regulator assembly 13 includes three secondary load tie rod regulators, including a secondary load front end tie rod regulator 131, a secondary load middle end tie rod regulator 132 and a secondary load rear end tie rod regulator 133. The secondary load front end tie rod regulator 131 is installed in the middle of the secondary load front end tie rod 111, the secondary load middle end tie rod regulator 132 is installed in the middle of the secondary load middle end tie rod 112, and the secondary load rear end tie rod regulator 133 is installed in the middle of the secondary load rear end tie rod 113. Among them, the secondary load middle end tie rod 112 is perpendicular to the paper picking arm 5, the secondary load front end tie rod 111, the paper picking arm 5, and the secondary load middle end tie rod 112 form a right triangle, the secondary load middle end tie rod 112, the paper picking arm 5, and the secondary load rear end tie rod 113 form a right triangle, and the above two triangles form a stable structure to prevent the paper picking rod mechanism from deforming.

[0040] Specifically, the paper picking rod mechanism also includes a plurality of paper picking suction cups 15 and paper picking claws 16. The lower end surface of the paper picking arm 5 is a working surface. The paper picking suction cups 15 and paper picking claws 16 are installed at intervals on the lower end surface of the paper picking arm 5 to ensure uniform force. The paper picking suction cups 15 are arranged in groups, and each group of paper picking suction cups 15 is provided with 2-3 paper picking suction cups 15 to adapt to substrate glasses of different sizes. The number of paper picking suction cups 15 and paper picking claws 16 is determined by the length of the paper picking arm 5. In principle, the spacing between the paper picking claws 16 is not greater than 60 cm, and the spacing between the paper picking suction cups 15 groups is not greater than 60 cm, to ensure the stability and reliability of the paper picking process.

[0041] The operating principle of the present invention is as follows.

[0042] Preparation stage: Install the rod-type paper pick-up device for large-size substrate glass at the glass input port of the glass processing production line. Before installation, calibrate the installation position, requiring the paper pick-up lifting rod 3 to be parallel to the normal line of the bottom plate of the horizontal push type A-frame turntable, and adjust the number and spacing of the paper pick-up suction cup 15 and the paper pick-up claw 16 according to the size and weight of the substrate glass.

[0043] Set the R+ gear and R- gear according to the position of the rod-type paper picking device. When adjusting the slewing mechanism 2 to the R+ gear angle, the paper picking rod mechanism is parallel to the A-frame glass. When adjusting the slewing mechanism 2 to the R- gear angle, the paper picking rod mechanism is parallel to the paper clamping buffer rack.

[0044] The Z+ position and the Z- position are set according to the glass specifications. When the lifting mechanism is adjusted to the height of the Z+ position, the paper suction cup 15 and the paper clamping claw 16 are higher than the upper edge of the A-frame glass and can directly contact the glass to clamp the paper; when the lifting mechanism is adjusted to the height of the Z- position, the paper picking rod mechanism is about 25 cm higher than the paper clamping buffer frame.

[0045] Paper picking stage: It should be noted that the rod-type paper picking device provided in the present invention cooperates with the sheet picking device during the paper picking process to jointly complete the automatic loading of large-size substrate glass.

[0046] 1. The pick-up device contacts the glass substrate and is ready to pick up the glass substrate.

[0047] 2. The lifting mechanism moves to lift the paper picking rod mechanism to the Z+ gear position, and the rotating mechanism 2 moves to rotate the paper picking rod mechanism to the R+ gear position, and the paper picking suction cup 15 contacts the glass clamp.

[0048] 3. The paper-taking suction cup 15 absorbs the jammed paper to prevent the jammed paper from being sucked away by the glass when taking out the film.

[0049] 4. The film taking device takes out the glass substrate and places it on the glass joining table.

[0050] 5. The paper suction cup 15 sucks the glass paper outward until the paper is separated from the next piece of glass, and the paper clamping claw 16 moves to provide strong clamping to ensure that the paper does not fall off during the process of moving to the temporary storage rack.

[0051] 6. The rotary mechanism 2 rotates the paper picking rod mechanism to the R-position, and the lifting mechanism moves the paper picking rod mechanism down to the Z-position.

[0052] 7. The negative pressure of the paper-taking suction cup 15 is released, and the paper-taking clamping claw 16 is also loosened, and the clamped paper is stably placed on the paper-taking temporary storage rack, and the paper taking is completed.

[0053] During this process, the paper picking arm 4 and the paper picking arm 5 together constitute the main working part of the paper picking rod mechanism; the paper picking arm counterweight 6 is used to balance the load of the paper picking arm to ensure that the paper picking rod mechanism remains balanced and stable during movement; the paper picking arm tower cap 7 and the balance rod 8 ensure that the paper picking rod mechanism will not deform or become unstable when extracting and transferring the substrate glass through their right-angled triangle stable structure; the primary load rod 10 is responsible for bearing and transmitting the load during the paper picking process. When the paper picking rod mechanism performs lifting and rotating movements, the primary rod viscous damper 14 can effectively absorb and reduce the resulting vibration and impact.

[0054] The primary load rod 10 and the secondary load rod 11 assembly work together to maintain the straightness and stability of the paper picking rod mechanism. Before the paper picking stage begins, the primary load rod 10 can be pre-tightened and adjusted by the primary load rod adjuster 12 to ensure that it can maintain the best working state during the paper picking process. As the paper picking process proceeds, the primary load rod adjuster 12 can also be fine-tuned according to actual conditions to adapt to substrate glasses of different sizes and weights; the secondary load rod assembly 11 is connected to the upper end surface of the paper picking arm 5, and the secondary load front end rod 111, the secondary load middle end rod 112, and the secondary load rear end rod 113 are respectively connected to the primary load rod 10 through the rod connector 9, which enhances the overall rigidity and stability of the paper picking rod mechanism and prevents shaking or deformation caused by load changes. At the same time, the secondary load front end rod adjuster 131, the secondary load middle end rod adjuster 132, and the secondary load rear end rod adjuster 133 installed in the middle are used to adjust the length of the rod, thereby realizing precise control of the straightness of the lower end surface of the paper picking arm 5, ensuring that the substrate glass remains stable during adsorption and movement.

[0055] Reset stage: the lifting mechanism rises, and the paper picking rod mechanism is reset to the initial position; the rotary mechanism 2 rotates the paper picking rod mechanism back to the R+ gear position to prepare for the next paper picking operation.

[0056] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A rod-type paper pick-up device for loading large-size substrate glass, used in conjunction with a push-type A-frame turntable, characterized in that: It comprises a base assembly, a lifting mechanism installed on the top of the base assembly and a paper picking rod mechanism installed on the lifting mechanism. The paper picking rod mechanism comprises a paper picking arm (4) and a paper picking arm (5), wherein the paper picking arm (4) is slidably mounted on the paper picking lifting rod (3), the paper picking arm (5) is mounted at the end of the working side of the paper picking arm (4), and a paper picking arm tower cap (7) is vertically mounted above the working side of the paper picking arm (4); The paper picking rod mechanism also includes a primary load rod (10) and a secondary load rod assembly (11), one end of the primary load rod (10) is connected to the top of the paper picking arm tower cap (7), and the other end is connected to a rod connector (9), a primary load rod adjuster (12) is installed in the middle of the primary load rod (10), and the secondary load rod assembly (11) includes a plurality of secondary load rods, one end of each of the secondary load rods is connected to the rod connector (9), and the other end is respectively connected to various parts of the upper end surface of the paper picking arm (5), a secondary load rod adjuster is installed in the middle of each of the secondary load rods, and a plurality of secondary load rod adjusters constitute a secondary load rod adjuster assembly (13); A plurality of paper picking suction cups (15) and paper picking clamps (16) are installed on the lower end surface of the paper picking arm (5).

2. The rod-type paper-taking device for loading large-size glass substrates according to claim 1, characterized in that: The base assembly comprises a paper picking arm base (1) and a rotating mechanism (2); the rotating mechanism (2) is installed above the paper picking arm base (1); and the rotating mechanism (2) can drive the lifting mechanism and the paper picking rod mechanism to rotate axially.

3. The rod-type paper-taking device for loading large-size glass substrates according to claim 1, characterized in that: The lifting mechanism comprises a paper picking lifting rod (3) and a driving device, and the driving device drives the paper picking arm (4) to move up and down along the paper picking lifting rod (3).

4. The rod-type paper-taking device for loading large-size glass substrates according to claim 1, characterized in that: The paper picking rod mechanism also includes a paper picking arm counterweight (6), and the paper picking arm counterweight (6) is installed on the counterweight side of the paper picking arm (4).

5. The rod-type paper-taking device for loading large-size glass substrates according to claim 1, characterized in that: The paper picking rod mechanism also includes a balancing rod (8), one end of which is connected to the top of the paper picking arm tower cap (7), and the other end of which is connected to the side of the paper picking arm (4) close to the paper picking lifting rod (3). The paper picking arm (4), the balancing rod (8) and the paper picking arm tower cap (7) form a right triangle structure.

6. The rod-type paper-taking device for loading large-size glass substrates according to claim 1, characterized in that: The paper picking rod mechanism also includes a primary pull rod viscous damper (14), and the primary pull rod viscous damper (14) is installed in the middle of the primary load pull rod (10).

7. The rod-type paper-taking device for loading large-size glass substrates according to claim 1, characterized in that: The secondary load pull rod assembly (11) comprises three secondary load pull rods, namely a secondary load front end pull rod (111), a secondary load middle end pull rod (112) and a secondary load rear end pull rod (113); the two ends of the secondary load front end pull rod (111) are connected to the pull rod connector (9) and the upper end surface of the front end of the paper picking arm (5); the two ends of the secondary load middle end pull rod (112) are connected to the pull rod connector (9) and the upper end surface of the middle end of the paper picking arm (5); and the two ends of the secondary load rear end pull rod (113) are connected to the pull rod connector (9) and the upper end surface of the rear end of the paper picking arm (5); The secondary load tie rod adjuster assembly (13) comprises three secondary load tie rod adjusters, including a secondary load front end tie rod adjuster (131), a secondary load middle end tie rod adjuster (132) and a secondary load rear end tie rod adjuster (133); the secondary load front end tie rod adjuster (131) is installed in the middle of the secondary load front end tie rod (111), the secondary load middle end tie rod adjuster (132) is installed in the middle of the secondary load middle end tie rod (112), and the secondary load rear end tie rod adjuster (133) is installed in the middle of the secondary load rear end tie rod (113).

8. The rod-type paper-taking device for loading large-size glass substrates according to claim 7, characterized in that: The secondary load middle end pull rod (112) is perpendicular to the paper picking arm (5).

9. The rod-type paper-taking device for loading large-size glass substrates according to claim 1, characterized in that: The paper picking suction cups (15) are arranged in groups, and each group of the paper picking suction cups (15) is provided with 2-3 pieces.

10. The rod-type paper-taking device for loading large-size glass substrates according to claim 9, characterized in that: The paper picking sucker (15) and the paper picking clamping claw (16) are installed at intervals, the interval between the paper picking clamping claws (16) is not greater than 60 centimeters, and the interval between the paper picking sucker (15) groups is not greater than 60 centimeters.

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