Automatic glass blanking equipment and method

Abstract

The invention provides automatic glass discharging equipment and method, and relates to the technical field of glass processing.The automatic glass discharging equipment comprises a conveying device used for conveying glass sheets to move transversely and further comprises a discharging grabbing device used for grabbing the glass sheets, and the discharging grabbing device comprises a telescopic grabbing base; the grabbing base comprises a first grabbing seat and a second grabbing seat, the lower end of the first grabbing seat and the lower end of the second grabbing seat are each fixedly provided with a grabbing guide rod, the two grabbing guide rods are parallel to each other, and the surfaces of the grabbing guide rods are slidably connected with a plurality of suction cup assemblies; every two longitudinally-corresponding suction cup assemblies are connected through a telescopic linkage rod set, the folding assembly is connected with the multiple suction cup assemblies, and the driving device is used for controlling the folding state of the folding assembly. A positioning device is further arranged at the upper end of the conveying device. According to the glass sheet grabbing device, the time of line changing production is greatly shortened, and the accuracy and efficiency of glass sheet grabbing are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of glass processing, and in particular to an automatic glass blanking device and method. Background Art

[0002] After circular scribing and knocking, rectangular glass sheets can form circular glass sheets. After circular scribing, knocking is not immediately carried out. Usually, the scribed rectangular glass sheets are stacked for subsequent storage and transportation.

[0003] An automatic blanking device can replace personnel to automatically blank the scribed rectangular glass sheets. The used automatic blanking device includes a rectangular negative pressure gripper. After moving the rectangular negative pressure gripper to the directly above the rectangular glass sheet through a position control joint, the negative pressure gripper is used to fit with the surface of the glass sheet to complete the negative pressure gripping and blanking, which greatly improves the efficiency of glass processing and blanking. However, when the specifications of the rectangular glass sheets are adjusted, not only the specifications of the negative pressure gripper need to be replaced or debugged, but also the positioning reference of the position control joint needs to be changed, and repositioning is required. The adjustment and positioning processes are relatively complex, affecting the efficiency of glass production and processing. Summary of the Invention

[0004] Aiming at the above problems, the present invention provides an automatic glass blanking device and method, which greatly shortens the time for production line changeover and improves the accuracy and efficiency of glass sheet gripping.

[0005] To solve the above problems, the technical solution adopted by the present invention is: An automatic glass blanking device and method, including a conveying device for horizontally moving glass sheets, and further including a blanking gripping device for gripping glass sheets. The blanking gripping device includes a telescopic gripping base, the gripping base includes a first gripping seat and a second gripping seat, a gripping guide rod is fixed at the lower end of each of the first gripping seat and the second gripping seat, the two gripping guide rods are parallel to each other, a plurality of suction cup assemblies are slidably connected to the surface of the gripping guide rods, two longitudinally corresponding suction cup assemblies are connected by a telescopic linkage rod group, and further includes a folding assembly connecting the plurality of suction cup assemblies and a driving device for controlling the folding state of the folding assembly; a positioning device is further provided at the upper end of the conveying device, the longitudinal position of the glass sheet is adjusted through the positioning device, the positioning device is electrically connected to the conveying device, and the glass sheet is controlled to move into the horizontal projection plane of the blanking gripping device through the cooperation of the positioning device and the conveying device.

[0006] Preferably, two sets of laser detection elements are further provided at the upper end of the positioning device. The two sets of laser detection elements are electrically connected. The first set of laser detection elements can detect and position the position of the suction cup assembly at the edge, and transmit relevant data to the second set of laser detection elements. The second set of laser detection elements can detect the position of the front end of the glass sheet moving. The second set of laser detection elements is electrically connected to the conveyor belt. After the front end of the glass sheet moves to a predetermined position and is detected by the second set of laser detection elements, the conveyor belt is controlled to stop driving.

[0007] Preferably, the folding assembly includes a plurality of folding rods. Two adjacent folding rods are rotatably connected through a rotating joint. The rotating joint includes a first rotating joint located inside and a second rotating joint located outside. The first rotating joint located inside is in a connected state with the corresponding suction cup assembly and moves synchronously with the movement of the suction cup assembly.

[0008] Preferably, the driving device includes a rotating device and a second telescopic device. By adjusting the deflection angle of the two inner folding rods through the second telescopic device, and by adjusting the deflection angle of the plurality of outer folding rods through the rotating device, the synchronous control of the deflection angles of the plurality of folding rods is finally achieved.

[0009] Preferably, the second telescopic device is installed at an intermediate position, between the grasping base and the second rotating joint. By controlling the expansion and contraction of the grasping base, the position of the second rotating joint can be controlled, and the adjustment and control of the included angle between the two middle folding rods can be realized.

[0010] Preferably, the rotating device is installed on both sides of the second telescopic device. The base end of the rotating device is fixedly connected to the linkage rod group, and at the same time, the rotating end of the rotating device is fixedly connected to the outer folding rod. The outer folding rod is adjusted to deflect a predetermined angle synchronously through the rotating device.

[0011] Preferably, both the rotating device and the second telescopic device are controlled by hydraulic pressure. The rotating device and the second telescopic device are in a hydraulically connected state. When the second telescopic device expands and contracts, the two outer rotating devices can be controlled to rotate synchronously.

[0012] Preferably, the second telescopic device includes a telescopic base. A control piston is slidably connected inside the telescopic base. A control rod is fixed to the side wall of the control piston. The end of the control rod penetrates through the telescopic base and is connected to the second rotating joint. The control piston divides the inside of the telescopic base into a first control chamber and a second control chamber. After pumping hydraulic oil into the first control chamber, the control piston is driven to move in the direction of the second rotating joint, and the control rod is pushed out.

[0013] Preferably, two separate elastic sacs are arranged in the second control cavity, a partition is arranged between the two elastic sacs, and the spring sac communicates with the corresponding rotating device.

[0014] An automatic glass blanking method uses the above-mentioned automatic glass blanking equipment, and includes the following steps: S1. Driving the glass sheet after cutting and scribing a circle to be directionally conveyed along the length direction through a conveyor belt; S2. After the glass sheet is conveyed to a predetermined position, detecting the position of the glass sheet through a positioning device. After the front end of the glass sheet reaches the predetermined position, controlling the conveyor belt to stop moving, and at the same time controlling the positioning device to extend. After extension, the positioning device can push the glass sheet to move towards the other side until the glass sheet is within the horizontal projection plane of the blanking grasping device; S3. Using the blanking grasping device to perform negative pressure grasping on the glass sheet, and moving the glass sheet to a predetermined position for stacking; after adjusting the length and width dimensions of the glass sheet, adjusting the distance between multiple groups of sucker assemblies, and at the same time adjusting the longitudinal position of the glass sheet through the positioning device, adjusting the lateral position of the glass sheet through the conveying device, and re-controlling the glass sheet to move to within the horizontal projection plane of the blanking grasping device.

[0015] The beneficial effects of the present invention are: Compared with the prior art, by controlling the opening and closing position of the grasping guide rod and the sliding position of the sucker assembly, the positions of multiple sucker assemblies can be quickly adjusted to meet the adaptive grasping of glass sheets of different sizes and specifications; at the same time, through the conveying device, the lateral position of the glass sheet can be positioned, and through the positioning device, the longitudinal position of the glass sheet can be positioned. The two cooperate to quickly control the glass sheet to move to within the horizontal projection plane of the blanking grasping device, without the need for precise positioning, greatly shortening the time for line change production and improving the accuracy and efficiency of glass sheet grasping. Description of the Drawings

[0016] Figure 1 It is a three-dimensional structural schematic diagram of the automatic glass blanking equipment of the present invention.

[0017] Figure 2 For the present invention Figure 1 The front view structural schematic diagram.

[0018] Figure 3 For the present invention Figure 1 The side view structural schematic diagram.

[0019] Figure 4 For the present invention Figure 1 The top view structural schematic diagram.

[0020] Figure 5 It is a three-dimensional structural schematic diagram of the blanking grasping device of the present invention.

[0021] Figure 6 For the present invention Figure 5Front view structural schematic diagram of

[0022] Figure 7 For the present invention Figure 5 Top view structural schematic diagram of

[0023] Figure 8 For the present invention Figure 5 Side view structural schematic diagram of

[0024] Figure 9 For the present invention Figure 7 Enlarged structural schematic diagram at position A of

[0025] In the figure: 100, conveying device; 110, conveying base; 120, conveying belt; 200, glass sheet; 210, outer area of the scribed circle; 220, inner area of the scribed circle; 300, blanking gripping device; 310, gripping base; 311, first gripping seat; 312, first telescopic device; 313, second gripping seat; 320, gripping guide rod; 330, suction cup assembly; 340, linkage rod group; 341, first linkage rod; 342, linkage guide rod; 343, second linkage rod; 350, folding assembly; 351, folding rod; 352, rotating joint; 360, rotating device; 370, second telescopic device; 371, telescopic base; 372, first control cavity; 373, control piston; 374, control rod; 375, second control cavity; 400, positioning device. Detailed implementation manners

[0026] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0027] Refer to the attached Figure 1 - The attached Figure 9 , an automatic glass blanking device, comprising a conveying device 100, the conveying device 100 includes a conveying base 110 and a conveying belt 120, and the conveying belt 120 can convey the glass sheet 200 during the directional movement. Here, the glass sheet 200 is scribed by a scribing machine and then directionally conveyed on the surface of the conveying belt 120. After the glass sheet 200 is conveyed to one side of the blanking gripping device 300, the blanking gripping device 300 performs negative pressure gripping on the whole scribed glass sheet 200 to realize automatic blanking and stacking.

[0028] The stacking of the glass sheets 200 can be selected to be vertically or horizontally stacked according to requirements.

[0029] Specifically, the blanking grasping device 300 includes a grasping base 310. The grasping base 310 includes a relatively movable first grasping seat 311 and a second grasping seat 313. The first grasping seat 311 and the second grasping seat 313 are connected by a first telescopic device 312. An installation seat is provided at the upper end of the first grasping seat 311. The manipulator is fixedly connected to the installation seat to control the position of the grasping base 310 in three-dimensional space, so as to realize the rapid and accurate grasping and placement of the glass sheet 200.

[0030] A grasping guide rod 320 is fixedly installed at the lower end of each of the first grasping seat 311 and the second grasping seat 313. The two grasping guide rods 320 are parallel to each other. A plurality of suction cup assemblies 330 are slidably connected to the surfaces of the two grasping guide rods 320. The suction cup assemblies 330 can be attached to the surface of the glass sheet 200 to realize the negative pressure grasping of the glass sheet 200 after scribing a circle.

[0031] The positions of the plurality of suction cup assemblies 330 correspond one by one. Two corresponding suction cup assemblies 330 are connected by a linkage rod group 340, which can control the synchronous movement of the two suction cup assemblies 330 along the grasping guide rod 320. The linkage rod group 340 here includes structures such as a first linkage rod 341, a linkage guide rod 342, and a second linkage rod 343. While being able to control the linear movement of the suction cup assemblies 330 on both sides along the length direction of the grasping guide rod 320, they can approach or move away from each other in a direction perpendicular to the grasping guide rod 320.

[0032] After scribing a circle, the glass sheet 200 is divided into a scribed circle outer region 210 and a scribed circle inner region 220. Controlling the plurality of suction cup assemblies 330 of the blanking grasping device 300 to face the scribed circle outer region 210 can stably grasp the entire glass sheet 200 at an outer position, ensuring the stability during the grasping process and avoiding accidents.

[0033] By providing a telescopic grasping base 310 and suction cup assemblies 330 that can move along the grasping guide rod 320, the movement of the plurality of suction cup assemblies 330 to different positions can be controlled to adaptively grasp glass sheets 200 of different sizes without replacing the entire blanking grasping device 300, greatly improving the efficiency of grasping glass sheets 200 of different sizes and significantly shortening the time during the line change process.

[0034] In order to quickly adjust the positions of multiple suction cup assemblies 330, further shorten the time for wire change preparation, and improve the accuracy of the positions of multiple suction cup assemblies 330 after adjustment, the blanking and gripping device 300 here further includes a folding assembly 350. The folding assembly 350 includes multiple folding rods 351. Adjacent two folding rods 351 are rotatably connected through a rotating joint 352. The multiple folding rods 351 are in a bent state. The rotating joint 352 here includes a first rotating joint located inside and a second rotating joint located outside. The first rotating joint located inside is in a connected state with the corresponding suction cup assembly 330 and can move synchronously with the movement of the suction cup assembly 330.

[0035] By setting the above structure, multiple suction cup assemblies 330 can be connected together through multiple folding assemblies 350. By adjusting the angle between multiple folding rods 351, the positions of multiple groups of suction cup assemblies 330 can be quickly adjusted, further improving the efficiency of manual adjustment and shortening the adjustment time.

[0036] In order to achieve automatic adjustment, the blanking and gripping device 300 here further includes a rotating device 360 and a second telescopic device 370. The second telescopic device 370 is installed at the middle position, between the gripping base 310 and the second rotating joint. By controlling the telescopic movement of the gripping base 310, the position of the second rotating joint can be controlled, realizing the adjustment and control of the angle between the two middle folding rods 351. The rotating device 360 is installed at the positions on both sides of the second telescopic device 370. The base end of the rotating device 360 is fixedly connected to the linkage rod group 340, and at the same time, the rotating end of the rotating device 360 is fixedly connected to the outer folding rod 351. Through the rotating device 360, the outer folding rod 351 can be adjusted to deflect a predetermined angle synchronously, realizing the adjustment of the deflection angle of the folding rod 351 at the outer position.

[0037] Through the above structural design, the deflection angle of the two inner folding rods 351 can be adjusted through the second telescopic device 370, and the deflection angle of the multiple outer folding rods 351 can be adjusted through the rotating device 360. Finally, the synchronous control of the deflection angles of multiple folding rods 351 is realized, controlling the relative consistency of the deflection angles of multiple folding rods 351 and realizing automatic and rapid adjustment.

[0038] Taking the 6 folding rods 351 in the attached drawing as an example, only one set of second telescopic device 370 and two sets of rotating devices 360 are needed to complete the overall drive control. By driving the second rotating joint at the middle position through the second telescopic device 370 at the middle, the deflection angles of the two middle folding rods 351 can be adjusted; through the rotating devices 360 at both sides, the positions of the deflection angles between the two outer folding rods 351 can be directly adjusted to realize drive control.

[0039] It should be noted that the suction cup assembly 330 here is slidably connected to the grasping guide rod 320, and the two outer folding rods 351 are rotatably connected. While controlling one of the second outermost folding rods 351 to deflect by a predetermined angle, the outermost folding rod 351 can deflect synchronously. After the outermost folding rod 351 deflects, it can drive the outermost suction cup assembly 330 to slide inward or outward, realizing the adjustment and control of the positions of multiple suction cup assemblies 330 along the direction of the grasping guide rod 320.

[0040] Furthermore, the rotation device 360 and the second telescopic device 370 here are both controlled by hydraulic pressure. The rotation device 360 and the second telescopic device 370 are in a hydraulically connected state. While the second telescopic device 370 expands and contracts, it can control the synchronous rotation of the two outer rotation devices 360.

[0041] The second telescopic device 370 here includes a telescopic base 371. A control piston 373 is slidably connected inside the telescopic base 371. A control rod 374 is fixed to the side wall of the control piston 373. The end of the control rod 374 penetrates through the telescopic base 371 and is connected to the second rotating joint. The control piston 373 divides the inside of the telescopic base 371 into a first control chamber 372 and a second control chamber 375. After pumping hydraulic fluid into the first control chamber 372, it can drive the control piston 373 to move towards the second rotating joint, push the control rod 374 to extend, and finally control the angle change of the corresponding two folding rods 351. After the change, it can pull multiple suction cup assemblies 330 to move inward, reducing the distance between adjacent two suction cup assemblies 330.

[0042] The second control chamber 375 here is in a connected state with the outer rotation device 360. During the movement of the control piston 373, the internal control hydraulic fluid can be pumped into the corresponding rotation device 360 to control the corresponding rotation device 360 to deflect by a predetermined angle, realizing automatic drive control.

[0043] It should also be noted that two separate elastic capsules can be arranged in the second control chamber 375. The control hydraulic fluid is contained in the elastic capsules. During the process of the control piston 373 moving outward, the control hydraulic fluid in the elastic capsules can be squeezed into the rotation device 360 to control the rotation device 360 to drive the corresponding folding rod 351 to deflect; during the process of the control piston 373 moving inward, the elastic capsules can draw out the hydraulic fluid in the rotation device 360 under the action of their own elasticity. During this process, the rotation device 360 can deflect in the reverse direction, realizing automatic drive control; the rotation device 360 here can also be selected as a hydraulic component with a reset elasticity, which can accelerate the reset of the control hydraulic fluid.

[0044] A partition is arranged between two elastic sacs. The partition is fixedly connected to the control piston 373 and can move synchronously with the control piston 373. At the same time, the end of the partition here penetrates through the telescopic base 371 and is slidably connected thereto. By arranging the partition, the two elastic sacs can be separated, which can avoid the mutual influence of the two elastic sacs during the compression and reset processes, ensure the normal extrusion and reflux of the control oil in the two elastic sacs, and ensure the stability of the deflection control of the two-side rotating devices 360.

[0045] To solve the stability of the positioning between the outer area 210 of the circle drawing and the blanking grasping device 300, a positioning device 400 is further arranged at the upper end of the conveying device 100. Through the positioning device 400, the position of the glass sheet 200 can be adjusted, and the glass sheet 200 can be controlled to move to a predetermined position below the blanking grasping device 300 to ensure the stability of the grasping by the blanking grasping device 300.

[0046] The positioning device 400 here is electrically connected to the conveying belt 120. After the glass sheet 200 moves along the length direction of the conveying belt 120 to a predetermined position, the conveying belt 120 is controlled to stop moving. The positioning device 400 here can slide electrically along the width direction of the conveying belt 120. According to the size of the width dimension of the glass sheet 200, the positioning device 400 is controlled to extend a predetermined distance along the width direction of the conveying belt 120, and the glass sheet 200 can be pushed outward a predetermined distance to control the glass sheet 200 to move to a predetermined position below the blanking grasping device 300 to ensure the stability of subsequent negative pressure grasping.

[0047] Two groups of laser detection elements are further arranged at the upper end of the positioning device 400. The two groups of laser detection elements are electrically connected. The first group of laser detection elements can detect and position the position of the suction cup assembly 330 at the edge and transmit relevant data to the second group of laser detection elements. Through the second group of laser detection elements, the position of the front end of the glass sheet 200 can be detected. The second group of laser detection elements is electrically connected to the conveying belt 120. After the front end of the glass sheet 200 moves to a predetermined position and is detected by the second group of laser detection elements, the conveying belt 120 is controlled to stop driving. At this time, the glass sheet 200 is positioned along the length direction of the conveying belt 120. Then, according to the width dimension of the glass sheet 200, the positioning device 400 is driven to extend a predetermined distance along the width direction of the conveying belt 120. Subsequently, the width direction of the glass sheet 200 is positioned, and the position of the glass sheet 200 coincides with the projected area of the blanking grasping device 300 to ensure the accuracy of the subsequent grasping position.

[0048] Meanwhile, it should also be noted that through the above positioning method, multiple suction cup assemblies 330 all correspond to the outer area 210 of the glass sheet 200 where the circle is drawn, ensuring the stability of the subsequent grasping process; through the double laser positioning method, the position of the glass sheet 200 moving along the length direction of the conveyor belt 120 can be automatically detected and positioned according to the moving position of the suction cup assembly 330. The conveyor belt 120, the blanking grasping device 300, and the positioning device 400 can form an integral whole without the need for staff to participate in the control. The staff only needs to input the length and width dimensions of the glass sheet 200 to adjust the distribution position of the suction cup assemblies 330. After the position of the suction cup assemblies 330 is adjusted, the drive control of the positioning device 400 and the conveyor belt 120 is automatically adjusted without manual intervention, greatly improving the efficiency of automatic blanking after the automatic cutting of the glass sheet 200.

[0049] An automatic glass blanking method using the above automatic glass blanking equipment includes the following steps: S1. Cut and draw a circle on the glass sheet 200, and drive the cut and circle-drawn glass sheet 200 to be conveyed directionally along the length direction through the conveyor belt 120.

[0050] S2. After the glass sheet 200 is conveyed to a predetermined position, the position of the glass sheet 200 is detected by the positioning device 400. After the front end of the glass sheet 200 reaches the predetermined position, control the conveyor belt 120 to stop moving, and at the same time control the positioning device 400 to extend. After extension, the positioning device 400 can push the glass sheet 200 to move towards the other side until the glass sheet 200 is within the horizontal projection plane of the blanking grasping device 300.

[0051] S3. Subsequently, the glass sheet 200 is negatively pressured and grasped by the blanking grasping device 300, and the glass sheet 200 is moved to a predetermined position for stacking.

[0052] After the length and width dimensions of the glass sheet 200 are adjusted, the multiple folding rods 351 are controlled by the rotating device 360 and the second telescopic device 370 to bend and deflect by a predetermined angle, synchronously completing the adjustment of the distance between multiple groups of suction cup assemblies 330. The distance between two suction cup assemblies 330 within a group can be adjusted by the first telescopic device 312, and it can be quickly adjusted according to the changed size specification of the glass sheet 200, quickly realizing the quick adaptive grasping and blanking of glass sheets 200 of different specifications.

[0053] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An automatic glass blanking device, comprising a conveying device (100) for horizontally moving a glass sheet (200), and further comprising a blanking gripping device (300) for gripping the glass sheet (200), characterized in that: The blanking gripping device (300) comprises a telescopic gripping base (310), the gripping base (310) comprises a first gripping seat (311) and a second gripping seat (313), a gripping guide rod (320) is fixed to the lower ends of both the first gripping seat (311) and the second gripping seat (313), the two gripping guide rods (320) are parallel to each other, a plurality of suction cup assemblies (330) are slidably connected to the surfaces of the gripping guide rods (320), two longitudinally corresponding suction cup assemblies (330) are connected by a telescopic linkage rod group (340), and further comprises a folding assembly (350) connecting the plurality of suction cup assemblies (330) and a driving device for controlling the folding state of the folding assembly (350); A positioning device (400) is further provided at the upper end of the conveying device (100), the longitudinal position of the glass sheet (200) is adjusted by the positioning device (400), the positioning device (400) is electrically connected to the conveying device (100), and the movement of the glass sheet (200) is controlled to move into the horizontal projection plane of the blanking gripping device (300) through the cooperation of the positioning device (400) and the conveying device (100).

2. The automatic glass blanking device according to claim 1, characterized in that, Two groups of laser detection elements are further provided at the upper end of the positioning device (400), the two groups of laser detection elements are electrically connected, the first group of laser detection elements can detect and position the position of the suction cup assembly (330) at the edge, and transmit relevant data to the second group of laser detection elements, the position of the front end of the glass sheet (200) can be detected by the second group of laser detection elements, the second group of laser detection elements is electrically connected to the conveyor belt (120), and after the front end of the glass sheet (200) moves to a predetermined position and is detected by the second group of laser detection elements, the driving of the conveyor belt (120) is controlled to stop.

3. The automatic glass blanking device according to claim 1, wherein, The folding assembly (350) comprises a plurality of folding rods (351), adjacent two folding rods (351) are rotatably connected by a rotating joint (352), the rotating joint (352) comprises a first rotating joint located inside and a second rotating joint located outside, the first rotating joint located inside is in a connected state with the corresponding suction cup assembly (330) and moves synchronously with the movement of the suction cup assembly (330).

4. The automatic glass blanking equipment according to claim 1, characterized in that, The driving device comprises a rotating device (360) and a second telescopic device (370), the deflection angle of the two inner folding rods (351) is adjusted by the second telescopic device (370), the deflection angle of the plurality of outer folding rods (351) is adjusted by the rotating device (360), and finally the synchronous control of the deflection angles of the plurality of folding rods (351) is realized.

5. The automatic glass blanking device according to claim 4, characterized in that, The second telescopic device (370) is installed at an intermediate position, between the grasping base (310) and the second rotating joint. By controlling the telescoping of the grasping base (310), the position of the second rotating joint can be controlled, thereby realizing the adjustment and control of the angle between the two intermediate folding rods (351).

6. The automatic glass blanking device according to claim 4, characterized in that, The rotating devices (360) are installed on both sides of the second telescopic device (370). The base end of the rotating device (360) is fixedly connected to the linkage rod group (340), and at the same time, the rotating end of the rotating device (360) is fixedly connected to the outer folding rod (351). By adjusting the rotating device (360), the outer folding rod (351) is synchronously deflected by a predetermined angle.

7. The automatic glass blanking device according to claim 4, characterized in that, Both the rotating device (360) and the second telescopic device (370) are controlled hydraulically. The rotating device (360) and the second telescopic device (370) are in a hydraulically connected state. While the second telescopic device (370) is telescoping, the two outer rotating devices (360) can be synchronously rotationally controlled.

8. The automatic glass blanking device according to claim 4, wherein The second telescopic device (370) includes a telescopic base (371). A control piston (373) is slidably connected inside the telescopic base (371). A control rod (374) is fixed to the side wall of the control piston (373). The end of the control rod (374) penetrates through the telescopic base (371) and is connected to the second rotating joint. The control piston (373) divides the inside of the telescopic base (371) into a first control chamber (372) and a second control chamber (375). After pumping hydraulic fluid into the first control chamber (372), the control piston (373) is driven to move towards the second rotating joint, pushing the control rod (374) to extend.

9. The automatic glass blanking device according to claim 8, characterized in that, Two separate elastic sacs are arranged in the second control chamber (375). A partition is arranged between the two elastic sacs. The spring sacs are communicated with the corresponding rotating devices (360).

10. A glass automatic blanking method, characterized in that, Using the automatic glass blanking device according to any one of claims 1 - 9, the following steps are included: S1. Driving the glass sheet (200) after cutting and scribing a circle along the length direction by the conveyor belt (120) for directional conveyance; S2. After the glass sheet (200) is conveyed to a predetermined position, detecting the position of the glass sheet (200) by the positioning device (400). After the front end of the glass sheet (200) reaches the predetermined position, controlling the conveyor belt (120) to stop moving, and at the same time controlling the positioning device (400) to extend. After extension, the positioning device (400) can push the glass sheet (200) to move towards the other side until the glass sheet (200) is within the horizontal projection plane of the blanking grasping device (300); S3. Negatively grasping the glass sheet (200) by the blanking grasping device (300) and moving the glass sheet (200) to a predetermined position for stacking; After adjusting the length and width dimensions of the glass sheet (200), adjust the distance between multiple groups of sucker assemblies (330). At the same time, adjust the longitudinal position of the glass sheet (200) through the positioning device (400), and adjust the transverse position of the glass sheet (200) through the conveying device (100), and then re-control the glass sheet (200) to move into the horizontal projection plane of the blanking gripping device (300).

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