Multifunctional glass feeding manipulator and using method thereof

Abstract

The invention relates to the technical field of glass processing, in particular to a multifunctional glass feeding mechanical arm and a using method thereof.The multifunctional glass feeding mechanical arm comprises a rotating base, and a large arm is installed at the top of the rotating base. The arc-shaped plate drives the sliding block to slide back and forth on the guide rail, the multiple sets of vacuum suction cups on the four sets of fixing plates are aligned with glass of different sizes, then the glass is sucked and fed through the vacuum suction cups, the purpose of sucking and feeding the glass of different sizes can be achieved, the vacuum suction cups are matched with stress points of large glass, and the glass feeding efficiency is improved. The suction force of the vacuum chuck is uniformly distributed on the glass, so that the situation that the glass is prone to inclining, shaking and even falling off in the suction and carrying process is prevented, and the situation that the glass is damaged and even safety accidents are caused due to falling off of the glass is reduced.

Description

Technical Field

[0001] This invention relates to the field of glass processing technology, specifically a multifunctional glass loading robot and its usage method. Background Technology

[0002] In industries such as glass processing and building decoration, glass handling and loading are crucial production processes. To improve production efficiency, reduce manual labor intensity, and ensure operational safety, multi-functional glass loading robots have been widely adopted. These robots typically use vacuum suction cups as their suction components during glass loading operations. The vacuum suction cup creates a vacuum by removing air from between the suction cup and the glass surface, then uses atmospheric pressure to firmly adhere the glass, thus achieving the gripping and handling of the glass. It features convenient operation and minimal damage to the glass surface, demonstrating significant advantages in glass loading operations.

[0003] In actual production, the sizes of the glass to be processed vary considerably, ranging from small pieces of art glass to large pieces of architectural curtain wall glass. Because the vacuum suction cups on existing multi-functional glass loading robots are relatively fixed in position, when handling larger pieces of glass, the fixed suction cups cannot match the force points of the larger glass, making it impossible to distribute the suction force evenly on the glass. This leads to the glass easily tilting, shaking, or even falling off during the picking and handling process, resulting in poor stability. This instability not only affects the continuity and efficiency of production and increases the failure rate, but may also cause glass damage due to falling off, or even lead to safety accidents, causing economic losses and safety hazards to the enterprise. Therefore, we propose a multi-functional glass loading robot and its usage method. Summary of the Invention

[0004] The purpose of this invention is to provide a multifunctional glass loading robot and its usage method to solve the problems mentioned in the background art.

[0005] The objective of this invention can be achieved through the following technical solutions:

[0006] A multifunctional glass loading robot and its method of use include a rotating base, a large arm mounted on the top of the rotating base, a small arm mounted on the large arm, an electric push rod mounted at the bottom of the small arm, a connecting seat fixedly connected to the bottom of the electric push rod, and an adjustment component for adsorbing glass of different sizes at the bottom of the connecting seat.

[0007] The adjustment assembly includes a drive motor fixedly connected to a connecting base. The output end of the drive motor passes through the connecting base and is fixedly connected to a connecting shaft. A bearing is fixedly connected to the outer wall of the connecting shaft, and a base plate is fixedly connected to the outer wall of the bearing. A rotating disk is fixedly connected to the outer wall of the connecting shaft above the bearing. Two sets of connecting rods are fixedly connected to the top of the base plate. The connecting rods pass through the rotating disk and are fixedly connected to the bottom of the connecting base. Four sets of guide rails are fixedly connected to the outer walls of the base plate. A slider is slidably connected to the guide rails. A fixed plate is fixedly connected to the bottom of the slider. Several sets of vacuum suction cups are fixedly connected to both the fixed plate and the bottom of the base plate. An arc-shaped plate is hinged to the top of the slider. The other end of the arc-shaped plate is hinged to the rotating disk. Two sets of arc-shaped plates are mirror images of the other two sets of arc-shaped plates. The vacuum suction cup includes an air pipe, a vacuum pump, and a venting valve. A cleaning component for cleaning dust from glass is provided on the slider.

[0008] Preferably, two sets of connecting rods are fixedly connected to the top of the base plate. The connecting rods pass through the rotating disk and are fixedly connected to the bottom of the connecting seat. The vacuum suction cup includes an air pipe, a vacuum pump, and a venting valve. The slider is equipped with a cleaning component for cleaning glass dust.

[0009] Preferably, the guide rail is designed in the shape of an I-beam, and the slider has a through hole that matches the guide rail, so that the slider slides linearly on the guide rail.

[0010] Preferably, the bottom of the vacuum suction cup is designed in a funnel shape, and a sealing ring is glued to the bottom of the vacuum suction cup.

[0011] Preferably, the portion of the rotating disk that contacts the connecting rod has a fan-shaped groove design, and the outer wall of the connecting rod fits against the inner wall of the rotating disk.

[0012] Preferably, the cleaning component includes a rotating rod rotatably connected within four sets of sliders. Two sets of gears are symmetrically fixedly connected to the outer wall of the rotating rod. A brake block is fixedly connected to the surface of the rotating rod in the middle of the two sets of gears. A sliding groove is formed in the slider below the brake block. A sliding plate is slidably connected in the sliding groove. The other end of the sliding plate is fixedly connected to the outer wall of the base plate. Several sets of teeth are fixedly connected to the end of the sliding plate facing the gears. Several sets of protrusions are fixedly connected to the end of the sliding plate facing the brake block. Transmission plates are fixedly connected to both ends of the rotating rod. The transmission plates are rotatably connected to the sliders. A connecting plate is fixedly connected to the outer wall of the transmission plate. An air pump is fixedly installed on the top of the connecting plate. Several sets of nozzles are fixedly connected to the bottom of the connecting plate. The air pump is connected to the several sets of nozzles through a conduit. A control module is fixedly connected to the outer wall of the connecting base. The input ends of the four sets of air pumps are all electrically connected to the control module through wires.

[0013] Preferably, all four right angles on the brake block are chamfered.

[0014] Preferably, the two surfaces of the slide plate that contact the slide groove are symmetrically equipped with ball bearings, and the slide plate moves within the slide groove via the ball bearings.

[0015] A method for using a multi-functional glass loading robot includes the following steps:

[0016] S1: Place the glass under the connecting seat, and then rotate the large arm on the rotating base to make the motor drive the large arm and the small arm to move, and make the large arm and the small arm drive the vacuum suction cup to move to a position directly above the glass.

[0017] S2: The drive motor drives the connecting shaft and the rotating disk to rotate in both directions, so that the rotating disk drives the slider to slide back and forth on the guide rail through the arc plate;

[0018] S3: The drive motor drives the connecting shaft to rotate on the bearing, so that the connecting shaft synchronously drives the rotating disk to rotate. The rotating disk rotates and drives the slider to slide on the guide rail through the arc plate. The slider drives multiple sets of vacuum suction cups to move to the position corresponding to the glass.

[0019] S4: The electric push rod pushes the connecting seat, which in turn pushes the vacuum suction cup through the base plate and the fixed plate. This causes the vacuum pump to evacuate the vacuum suction cup, and then the vent valve closes, creating a negative pressure inside the vacuum suction cup and adsorbing the glass.

[0020] S5: The upper arm drives the rotating base and the glass to rotate, and then the motor drives the upper arm and the lower arm to move the glass to the desired position.

[0021] S6: Stop the vacuum pump on the vacuum suction cup. At this time, the vent valve opens, air enters to balance the air pressure, and the suction force of the vacuum suction cup disappears. The glass is then placed in the desired position.

[0022] The beneficial effects of this invention are:

[0023] This invention drives a connecting shaft to rotate on a bearing via a drive motor, causing the rotating disk to rotate synchronously with the connecting shaft. An arc-shaped plate then drives a slider to slide back and forth on a guide rail. Several sets of vacuum suction cups on four fixed plates are aligned with glass of different sizes. The vacuum suction cups then adsorb and load the glass, achieving the purpose of adsorbing and loading glass of different sizes. The invention also matches the force points of the vacuum suction cups with those of larger glass pieces, ensuring that the adsorption force of the vacuum suction cups is evenly distributed on the glass. This prevents the glass from tilting, shaking, or even falling off during the suction and handling process, reducing the risk of glass damage or even safety accidents caused by falling glass.

[0024] 2. This invention uses a slider that slides back and forth on a guide rail, synchronously driving the gear and rotating rod to move. The gear teeth drive the brake block and the slide groove to rotate within the slider, and the rotating rod drives the connecting plate to rotate synchronously through the transmission plate. When the gear and brake block separate, the brake block engages with the protrusion, preventing the rotating rod from rotating until the rotating rod drives the gear to engage with the next set of teeth, which then drives the connecting plate to rotate. By sliding the slider back and forth on the guide rail, the control module controls the air pump, which drives the nozzle to blow away dust or debris from the surface of the glass to be processed, thus making the vacuum suction cup more stable when adsorbing glass and further improving the stability of the robot arm in handling glass. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a three-dimensional structural schematic diagram of the present invention;

[0027] Figure 2 This is a bottom-view structural diagram of the present invention;

[0028] Figure 3 This is a partial cross-sectional structural diagram of the adjustment component of the present invention;

[0029] Figure 4 This is a schematic diagram of the structure of the adjustment component parts of the present invention;

[0030] Figure 5 This is a schematic diagram of the disassembled structure of the cleaning component parts of the present invention;

[0031] Figure 6 This is the invention Figure 3 A magnified structural diagram of point A in the middle.

[0032] The following are the reference numerals in the attached diagram: 1. Rotating base; 2. Main arm; 3. Forearm; 4. Electric push rod; 5. Connecting seat; 6. Adjustment component; 61. Drive motor; 62. Connecting shaft; 63. Bearing; 64. Base plate; 65. Rotating disk; 66. Connecting rod; 67. Guide rail; 68. Slider; 69. Fixing plate; 610. Vacuum suction cup; 611. Arc plate; 7. Cleaning component; 71. Rotating rod; 72. Gear; 73. Brake block; 74. Slide groove; 75. Slide plate; 76. Tooth; 77. Raised strip; 78. Transmission plate; 79. Connecting plate; 710. Air pump; 711. Nozzle; 712. Control module. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] like Figures 1-6 As shown, a multifunctional glass loading robot and its usage method include a rotating base 1, a large arm 2 mounted on the top of the rotating base 1, a small arm 3 mounted on the large arm 2, an electric push rod 4 mounted at the bottom of the small arm 3, a connecting seat 5 fixedly connected to the bottom of the electric push rod 4, and an adjustment component 6 for adsorbing glass of different sizes mounted at the bottom of the connecting seat 5.

[0035] Adjustment assembly 6 includes a drive motor 61 fixedly connected to the connecting base 5. The output end of the drive motor 61 passes through the connecting base 5. A connecting shaft 62 is fixedly connected to the output end of the drive motor 61. A bearing 63 is fixedly connected to the outer wall of the connecting shaft 62. A base plate 64 is fixedly connected to the outer wall of the bearing 63. A rotating disk 65 is fixedly connected to the outer wall of the connecting shaft 62 above the bearing 63. Two sets of connecting rods 66 are fixedly connected to the top of the base plate 64. The connecting rods 66 pass through the rotating disk 65 and are fixedly connected to the bottom of the connecting base 5. Four sets of connecting rods are fixedly connected to the outer walls of the base plate 64. A guide rail 67 is provided, on which a slider 68 is slidably connected. A fixing plate 69 is fixedly connected to the bottom of the slider 68. Several sets of vacuum suction cups 610 are fixedly connected to the bottom of both the fixing plate 69 and the base plate 64. An arc plate 611 is connected to the top of the slider 68 by a hinge. The other end of the arc plate 611 is hinged to the rotating disk 65. Two sets of arc plates 611 are mirror images of the other two sets of arc plates 611. The vacuum suction cups 610 include air pipes, vacuum pumps, and venting valves. A cleaning component 7 for cleaning dust from glass is provided on the slider 68.

[0036] In practice, the drive motor 61 drives the connecting shaft 62 to rotate on the bearing 63, causing the rotating disk 65 to rotate synchronously with the connecting shaft 62. The arc plate 611 drives the slider 68 to slide back and forth on the guide rail 67, and aligns the several sets of vacuum suction cups 610 on the four sets of fixed plates 69 with glass of different sizes. The vacuum suction cups 610 then adsorb and load the glass, achieving the purpose of adsorbing and loading glass of different sizes. The vacuum suction cups 610 are matched with the force points of larger glass, so that the adsorption force of the vacuum suction cups 610 is evenly distributed on the glass. This prevents the glass from tilting, shaking, or even falling off during the process of being picked up and transported, and reduces the occurrence of glass damage or even safety accidents caused by glass falling off.

[0037] It is important to note that the power source for both the upper arm 2 and the lower arm 3 is a motor. The guide rail 67 has an I-shaped design, and the slider 68 has a through hole that matches the guide rail 67. The slider 68 slides linearly on the guide rail 67, which increases the contact area between the slider 68 and the guide rail 67, making the contact points more even and reducing jamming or vibration caused by poor local contact. This improves the smoothness of the entire device's operation. The vacuum suction cup 610 has a trumpet-shaped bottom design, and a sealing ring is glued to the bottom of the vacuum suction cup 610 to increase suction power. The surface area is increased, pressure is dispersed, and it fits the glass surface better. The sealing ring can enhance the sealing performance and prevent glass scratches. The combination of the two can achieve stable and safe adsorption and handling of glass. The part of the rotating disk 65 that contacts the connecting rod 66 has a fan-shaped groove design. The outer wall of the connecting rod 66 fits the inner wall of the rotating disk 65, which allows the fan-shaped groove to cooperate with the connecting rod 66 to limit the rotation angle of the connecting shaft 62. When the connecting shaft 62 rotates to a certain angle, it reverses. At the same time, it can also increase the connection strength between the connecting seat 5 and the base plate 64.

[0038] As a technical optimization of the present invention, the cleaning component 7 includes a rotating rod 71 rotatably connected within four sets of sliders 68. Two sets of gears 72 are symmetrically fixedly connected to the outer wall of the rotating rod 71. A brake block 73 is fixedly connected to the surface of the rotating rod 71 in the middle of the two sets of gears 72. A slide groove 74 is provided in the slider 68 below the brake block 73. A slide plate 75 is slidably connected in the slide groove 74. The other end of the slide plate 75 is fixedly connected to the outer wall of the base plate 64. Several sets of teeth 76 are fixedly connected to the end of the slide plate 75 facing the gears 72. Several sets of protruding strips 77 are fixedly connected to one end of the moving block 73. Transmission plates 78 are fixedly connected to both ends of the rotating rod 71. The transmission plates 78 are rotatably connected to the slider 68. A connecting plate 79 is fixedly connected to the outer wall of the transmission plate 78. An air pump 710 is fixedly installed on the top of the connecting plate 79. Several sets of mouthpieces 711 are fixedly connected to the bottom of the connecting plate 79. The air pump 710 is connected to the several sets of mouthpieces 711 through a conduit. A control module 712 is fixedly connected to the outer wall of the connecting seat 5. The input ends of the four sets of air pumps 710 are all electrically connected to the control module 712 through wires.

[0039] In practice, the slider 68 slides back and forth on the guide rail 67, synchronously driving the gear 72 and the rotating rod 71 to move. The teeth 76 drive the brake block 73 and the slide groove 74 to rotate within the slider 68, and the rotating rod 71 drives the connecting plate 79 to rotate synchronously through the transmission plate 78. When the gear 72 and the brake block 73 separate, the brake block 73 and the protrusion 77 are in contact, so that the rotating rod 71 cannot rotate until the rotating rod 71 drives the gear 72 to move to mesh with the next set of teeth 76, so that the connecting plate 79 can be driven to rotate. The slider 68 slides back and forth on the guide rail 67, and the control module 712 controls the air pump 710, so that the air pump 710 drives the nozzle 711 to blow away the dust or debris on the surface of the glass to be processed, thereby making the vacuum suction cup 610 more stable when adsorbing glass, and further improving the stability of the robot arm in handling glass.

[0040] It should be noted that the four right angles on the brake block 73 are all chamfered, which makes the brake block 73 rotate more smoothly when it is driven by the rotating rod 71 to fit against the convex strip 77 and then slides off the convex strip 77. This prevents the right angles on the brake block 73 from getting stuck at the angles between the convex strip 77 and the slide plate 75. The two surfaces of the slide plate 75 that contact the slide groove 74 are symmetrically equipped with ball bearings. The slide plate 75 moves in the slide groove 74 through the ball bearings, which can convert sliding friction into rolling friction, greatly reducing motion resistance, improving the smoothness and accuracy of the motion, and extending the service life of the slide plate 75 and the slide groove 74.

[0041] In use, the glass is first placed below the vacuum suction cup 610. Then, the drive motor 61 drives the connecting shaft 62 and the rotating disk 65 to rotate in both directions. The rotating disk 65 drives the slider 68 to slide back and forth on the guide rail 67 via the arc plate 611. Simultaneously, the slider 68 moves, driving the rotating rod 71 to move. The teeth 76 drive the gear 72 and the rotating rod 71 to rotate back and forth within the slider 68. The transmission plate 78 drives the connecting plate 79 to rotate back and forth, causing the air pump 710 to drive the nozzle 711 to blow away debris and dust from the glass surface. Next, the drive motor 61 drives the connecting shaft 62 to rotate on the bearing 63, causing the connecting shaft 62 to simultaneously drive the rotating disk 65 to rotate. The rotating disk 65 rotates and passes through the arc plate 611... The slider 68 slides on the guide rail 67, causing the slider 68 to move multiple sets of vacuum suction cups 610 to the position corresponding to the glass. The electric push rod 4 pushes the connecting seat 5, which in turn pushes the vacuum suction cups 610 through the base plate 64 and the fixing plate 69. The vacuum pump evacuates the vacuum suction cups 610, and then the vent valve closes, creating a negative pressure inside the vacuum suction cups 610, which then adsorbs the glass. The large arm 2 drives the rotating base 1 to rotate with the glass, and the motor drives the large arm 2 and the small arm 3 to move the glass to the desired position. At this point, the vacuum pump on the vacuum suction cups 610 is stopped, the vent valve opens, air enters to balance the air pressure, and the adsorption force of the vacuum suction cups 610 disappears. The glass is then placed in the desired position for loading.

[0042] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A multifunctional glass loading robot, comprising a rotating base (1), characterized in that, The rotating base (1) is equipped with a large arm (2) on top, a small arm (3) is provided on the large arm (2), an electric push rod (4) is provided at the bottom of the small arm (3), a connecting seat (5) is fixedly connected to the bottom of the electric push rod (4), and an adjustment component (6) for adsorbing glass of different sizes is provided at the bottom of the connecting seat (5). The adjustment assembly (6) includes a drive motor (61) fixedly connected to the connecting seat (5). The output end of the drive motor (61) passes through the connecting seat (5). A connecting shaft (62) is fixedly connected to the output end of the drive motor (61). A bearing (63) is fixedly connected to the outer wall of the connecting shaft (62). A base plate (64) is fixedly connected to the outer wall of the bearing (63). A rotating disk (65) is fixedly connected to the outer wall of the connecting shaft (62) above the bearing (63). The outer walls of the base plate (64) are fixedly connected to... There are four sets of guide rails (67), and sliders (68) are slidably connected on the guide rails (67). A fixed plate (69) is fixedly connected to the bottom of the slider (68). Several sets of vacuum suction cups (610) are fixedly connected to the bottom of the fixed plate (69) and the bottom of the base plate (64). An arc plate (611) is connected to the top of the slider (68) by a hinge. The other end of the arc plate (611) is hinged to the rotating disk (65). Two sets of arc plates (611) are mirror images of the other two sets of arc plates (611).

2. The multifunctional glass loading robot according to claim 1, characterized in that, Two sets of connecting rods (66) are fixedly connected to the top of the base plate (64). The connecting rods (66) pass through the rotating disk (65) and are fixedly connected to the bottom of the connecting seat (5). The vacuum suction cup (610) includes an air pipe, a vacuum pump and a venting valve. The slider (68) is provided with a cleaning component (7) for cleaning glass dust.

3. The multifunctional glass loading robot according to claim 1, characterized in that, The guide rail (67) is designed in the shape of an I-beam, and the slider (68) has a through hole that matches the guide rail (67). The slider (68) slides linearly on the guide rail (67).

4. The multifunctional glass loading robot according to claim 1, characterized in that, The bottom of the vacuum suction cup (610) is designed in a trumpet shape, and a sealing ring is glued to the bottom of the vacuum suction cup (610).

5. A multifunctional glass loading robot according to claim 2, characterized in that, The portion of the rotating disk (65) that contacts the connecting rod (66) has a fan-shaped groove design, and the outer wall of the connecting rod (66) fits against the inner wall of the rotating disk (65).

6. The multifunctional glass loading robot according to claim 2, characterized in that, The cleaning component (7) includes a rotating rod (71) rotatably connected within four sets of sliders (68). Two sets of gears (72) are symmetrically fixedly connected to the outer wall of the rotating rod (71). A brake block (73) is fixedly connected to the surface of the rotating rod (71) in the middle of the two sets of gears (72). A sliding groove (74) is provided in the slider (68) below the brake block (73). A sliding plate (75) is slidably connected in the sliding groove (74). The other end of the sliding plate (75) is fixedly connected to the outer wall of the base plate (64). Several sets of teeth (76) are fixedly connected to the end of the sliding plate (75) facing the gears (72). The sliding plate (75) faces the brake block (73). One end of the rotating rod (71) is fixedly connected to several sets of protruding strips (77), and both ends of the rotating rod (71) are fixedly connected to transmission plates (78). The transmission plates (78) are rotatably connected to the slider (68). The outer wall of the transmission plates (78) is fixedly connected to a connecting plate (79). An air pump (710) is fixedly installed on the top of the connecting plate (79). Several sets of mouthpieces (711) are fixedly connected to the bottom of the connecting plate (79). The air pump (710) is connected to several sets of mouthpieces (711) through a conduit. The outer wall of the connecting seat (5) is fixedly connected to a control module (712). The input ends of the four sets of air pumps (710) are all electrically connected to the control module (712) through wires.

7. A multifunctional glass loading robot according to claim 6, characterized in that, The four right angles on the brake block (73) are all chamfered.

8. A multifunctional glass loading robot according to claim 6, characterized in that, The two surfaces of the slide plate (75) that contact the slide groove (74) are symmetrically equipped with ball bearings, and the slide plate (75) moves within the slide groove (74) by means of the ball bearings.

9. A method of using the multifunctional glass loading robot as described in claim 1, characterized in that: Includes the following steps: S1: Place the glass under the connecting seat (5), and then rotate the large arm (2) on the rotating base (1) so that the motor drives the large arm (2) and the small arm (3) to move, and the large arm (2) and the small arm (3) drive the vacuum suction cup (610) to move to the position directly above the glass. S2: Drive the drive motor (61) to drive the connecting shaft (62) and the rotating disk (65) to rotate in both directions, so that the rotating disk (65) drives the slider (68) to slide back and forth on the guide rail (67) through the arc plate (611); S3: Drive the drive motor (61) to drive the connecting shaft (62) to rotate on the bearing (63), so that the connecting shaft (62) synchronously drives the rotating disk (65) to rotate, so that the rotating disk (65) rotates and drives the slider (68) to slide on the guide rail (67) through the arc plate (611), so that the slider (68) drives multiple sets of vacuum suction cups (610) to move to the position corresponding to the glass; S4: The electric push rod (4) pushes the connecting seat (5), so that the connecting seat (5) pushes the vacuum suction cup (610) through the base plate (64) and the fixing plate (69), so that the vacuum pump evacuates the vacuum suction cup (610), and then the venting valve is closed, a negative pressure is formed in the vacuum suction cup (610), and the glass is adsorbed. S5: The upper arm (2) drives the rotating base (1) and the glass to rotate, and then the motor drives the upper arm (2) and the lower arm (3) to move the glass to the desired position. S6: Stop the vacuum pump on the vacuum suction cup (610). At this time, the vent valve opens, air enters the balanced air pressure, and the suction force of the vacuum suction cup (610) disappears. At this time, the glass is placed in the desired position.

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