Automatic unpacking and carrying mechanism and carrying device for large plate glass

Abstract

The invention relates to the technical field of display panel production equipment, in particular to an automatic large plate glass unpacking and carrying mechanism and a carrying device, and mainly solves the technical problems of high equipment cost, low operation efficiency and incapability of ensuring the carrying quality in an existing large plate glass unpacking and carrying mode. The carrying mechanism comprises a supporting frame, an in-place detection assembly, an elastic suction cup and a box adsorption assembly, wherein the box adsorption assembly comprises a sponge suction cup. According to the mechanism, the elastic suction cups and the sponge suction cups are integrated on the mounting frame, mutual interference is avoided through the liftable arrangement of the sponge suction cups, and damage of the sponge suction cups to large plate glass is avoided, so that the whole device is simpler in structure, lower in cost and higher in carrying efficiency; and meanwhile, the in-place detection assembly is adopted for accurately controlling the adsorption positions of the elastic suction cup and the sponge suction cup, effective contact between the suction cups and the adsorbed part can be guaranteed, overpressure of the suction cups can be avoided, and therefore the carrying quality can be guaranteed.

Description

Technical Field

[0001] This invention relates to the field of display panel production equipment technology, and in particular to an automatic unpacking and handling mechanism and handling device for large glass panels. Background Technology

[0002] To reduce breakage risk and save costs during transportation, large glass panels used for display panels are typically packed in foam boxes. Multi-layered large glass panels are stacked horizontally within the foam boxes, with pads separating adjacent panels. The top of the foam boxes is sealed with foam lids, and several boxes are stacked and then placed on stainless steel pallets for transport. During production, the foam box lids must be opened, the large glass panels removed, and the pads placed in empty boxes before being stacked again.

[0003] Because the surfaces of the large glass panels and the pads are smooth with good flatness, while the surfaces of the foam boxes and their lids are rough with poor flatness, two different adsorption and pickup structures are required. Furthermore, to avoid interference between the different adsorption and pickup mechanisms and to prevent damage to the large glass panels, the two adsorption and pickup mechanisms are generally set up independently. These two independent mechanisms work together to sequentially complete tasks such as picking up and placing the foam box lid, picking up the large glass panels, picking up and placing the pads, and moving the empty boxes. This results in higher equipment costs, and the switching between mechanisms also affects operational efficiency. In addition, because the vertical lifting distance during transport is relatively long, the accuracy of ordinary distance sensors is limited, easily causing overpressure on the suction cups or ineffective contact, thus compromising transport quality.

[0004] Therefore, there is an urgent need for an automated unpacking and handling equipment for large-pane glass that is low in cost, highly efficient, and can effectively guarantee the quality of handling, in order to improve the aforementioned shortcomings. Summary of the Invention

[0005] To overcome the technical shortcomings of existing large glass unpacking and handling methods, such as high equipment costs, low operating efficiency, and inability to guarantee handling quality, this invention provides an automatic large glass unpacking and handling mechanism and handling device.

[0006] The automatic unpacking and handling mechanism for large-pane glass provided by this invention includes:

[0007] Supporting framework;

[0008] The positioning detection component includes a flexible lifting rod and a metal proximity sensor. The flexible lifting rod is installed in the middle region of the support frame. The metal proximity sensor is fixed relative to the support frame and located above the flexible lifting rod. When the flexible lifting rod is pressed to the top and reaches the height of the metal proximity sensor, the metal proximity sensor sends a positioning signal.

[0009] Multiple elastic suction cups are provided and evenly distributed on the support frame. The adsorption surface of the elastic suction cup is located at its bottom end. The adsorption surfaces of the multiple elastic suction cups are located on the same horizontal plane and are flush with the bottom end of the elastic lifting rod. The elastic suction cups are used to adsorb large glass panels and pads. When adsorbing, the elastic suction cups descend with the support frame to trigger the positioning signal.

[0010] The foam box adsorption assembly includes a sponge suction cup, which is installed in the middle region of the support frame with its adsorption surface located at its bottom. The sponge suction cup is driven to move up and down, and when the sponge suction cup is in the lower limit position, it is flush with the bottom end of the elastic lifting rod that triggers the positioning signal. The sponge suction cup is used to adsorb foam boxes and foam box lids, and during adsorption, the sponge suction cup moves to the lower limit position and descends with the support frame to the position triggered by the positioning signal.

[0011] Furthermore, the box adsorption assembly is provided in two sets and is distributed at intervals along the length of the support frame.

[0012] Furthermore, the box adsorption assembly also includes a first telescopic cylinder, the cylinder body of which is fixed on the support frame, and the piston rod of which is connected to the sponge suction cup to drive the sponge suction cup to rise and fall.

[0013] Furthermore, it also includes an anti-slip plate assembly, which includes a striking block mounted on the support frame and driven to move up and down. The striking block is used to reciprocate and impact the adsorbed pad through the up and down movement to prevent slippage.

[0014] Furthermore, the anti-slip plate assembly also includes a second telescopic cylinder, the cylinder body of which is fixed on the support frame, and the piston rod of which is connected to the impact block to drive the impact block to rise and fall.

[0015] Furthermore, it also includes an air blowing head, which is installed at the edge of the support frame and used to blow air onto the edge of the adsorbed pad.

[0016] Furthermore, it also includes a distance sensor, which is mounted on the support frame and used to detect the distance between itself and the adsorbed object.

[0017] The automatic unpacking and handling device for large-pane glass provided by the present invention includes:

[0018] Six-axis robot;

[0019] The aforementioned automatic unpacking and handling mechanism for large-pane glass, wherein the supporting frame is connected to the output end of the six-axis robot;

[0020] The platform is equipped with loading stations, unloading stations, and turnover stations.

[0021] The technical solution provided by this invention has the following advantages compared with the prior art:

[0022] The automatic unpacking and handling mechanism for large glass panels provided by this invention uses elastic suction cups to adsorb the large glass panels and pads, and sponge suction cups to adsorb the foam boxes and foam box lids. The elastic suction cups and sponge suction cups are integrated on the mounting frame, and the adjustable height of the sponge suction cups avoids mutual interference and damage to the large glass panels. This makes the overall device structure simpler, lower in cost, and eliminates the need for switching between mechanisms, resulting in higher handling efficiency. At the same time, a positioning detection component is used to precisely control the adsorption position of the elastic suction cups and sponge suction cups, ensuring effective contact between the suction cups and the adsorbed items while preventing overpressure of the suction cups, thereby ensuring the quality of handling.

[0023] The automatic unpacking and handling device for large glass panels provided by the present invention has the aforementioned advantages because it has the aforementioned automatic unpacking and handling mechanism for large glass panels. Attached Figure Description

[0024] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[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 schematic diagram of the transport mechanism in an embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of the structure of the positioning detection component in an embodiment of the present invention;

[0028] Figure 3 This is a schematic diagram of the structure of the box adsorption assembly in an embodiment of the present invention;

[0029] Figure 4 This is a schematic diagram of the structure of the anti-stripping plate assembly in an embodiment of the present invention;

[0030] Figure 5 This is a schematic diagram of the structure of the conveying device in an embodiment of the present invention.

[0031] In the picture:

[0032] 110. Support frame; 120. Position detection component; 121. Elastic lifting rod; 122. Metal proximity sensor; 130. Elastic suction cup; 140. Box adsorption component; 141. Sponge suction cup; 142. First telescopic cylinder; 150. Anti-slip plate component; 151. Impact block; 152. Second telescopic cylinder; 160. Air blowing head; 170. Distance sensor;

[0033] 200. Six-axis robot;

[0034] 300, Platform. Detailed Implementation

[0035] To better understand the above-mentioned objectives, features, and advantages of the present invention, the solutions of the present invention will be further described below. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0036] Many specific details are set forth in the following description in order to provide a full understanding of the invention, but the invention may also be practiced in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of the invention, and not all embodiments.

[0037] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0038] Example 1

[0039] Reference Figures 1 to 4 This embodiment provides an automatic unpacking and handling mechanism for large glass panels, including a support frame 110, a positioning detection component 120, an elastic suction cup 130, and a box adsorption component 140.

[0040] The support frame 110 is mainly used to provide hardware support for other components, and its structure is not limited. For example, in this embodiment, aluminum alloy profiles are spliced ​​together to form the support frame 110.

[0041] The positioning detection component 120 includes an elastic lifting rod 121 and a metal proximity sensor 122. The elastic lifting rod 121 is installed in the middle region of the support frame 110. The metal proximity sensor 122 is fixed relative to the support frame 110 and located above the elastic lifting rod. When the elastic lifting rod is pressed to the top and reaches the height of the metal proximity sensor 122, the metal proximity sensor 122 sends a positioning signal.

[0042] It is easy to understand that the elastic lifting rod 121 is a structure that can rise and fall under pressure and return to its original position when no force is applied, which is easy for those skilled in the art to design. For example, the elastic lifting rod 121 in this embodiment includes a fixed cylinder, a movable rod, and a spring. The fixed cylinder is connected to the support frame 110 and its axis is arranged vertically. The movable rod is inserted into the fixed cylinder with gaps and both ends extend out of the fixed cylinder. The spring is connected between the fixed cylinder and the movable rod to provide a restoring elastic force. The spring and its connection structure are not limited. For example, in this embodiment, the movable rod is set as a stepped shaft, and the large-diameter shaft section of the stepped shaft is adapted to the fixed cylinder. The lower end of the fixed cylinder is provided with a retaining ring, the lower end of the spring is connected to the retaining ring, and the upper end of the spring is connected to the shaft shoulder. When the support frame 110 drives the elastic lifting rod 121 to descend, the bottom end of the movable rod contacts the adsorbed part and is limited, while the fixed cylinder continues to descend with the support frame 110, and the movable spring is stretched. When the bottom end of the movable rod is not limited, the movable rod returns to its original position under the tension of the spring.

[0043] Specifically, the fixing structure of the metal proximity sensor 122 on the support frame 110 is not limited. For example, in this embodiment, a fixing bracket is fixed on the support frame 110, and the metal proximity sensor 122 is mounted on the fixing bracket to achieve fixation relative to the support frame 110.

[0044] It should be noted that the positioning detection component 120 in this embodiment is provided with two metal proximity sensors 122, which are distributed vertically and horizontally. The lower metal proximity sensor 122 is used to trigger the positioning signal in conjunction with the elastic telescopic rod, while the upper metal proximity sensor 122 is used to trigger the alarm signal in conjunction with the elastic telescopic rod. That is, when the elastic telescopic rod is pressed to the top and reaches the height of the upper metal proximity sensor 122, the metal proximity sensor 122 issues an alarm signal to remind the operator that the suction cup is about to be over-pressurized.

[0045] Multiple elastic suction cups 130 are provided and evenly distributed on the support frame 110. The adsorption surface of the elastic suction cup 130 is located at its bottom end. The adsorption surfaces of multiple elastic suction cups 130 are located on the same horizontal plane and are flush with the bottom end of the elastic lifting rod 121. The elastic suction cups 130 are used to adsorb large glass panels and pads. When adsorbing, the elastic suction cups 130 descend with the support frame 110 to trigger the positioning signal.

[0046] It should be noted that although theoretically, this ensures that the adsorption surfaces of multiple elastic suction cups 130 are on the same horizontal plane and that the adsorbed object is placed horizontally, errors are inevitable in actual operation. If ordinary, non-elastic suction cups are used, some suction cups may fail to adsorb the product. This embodiment uses elastic suction cups 130 on one hand, and controls all elastic suction cups 130 to be compressed until the trigger signal is received before stopping during adsorption. The compression amount of the elastic suction cups 130 is sufficient to eliminate the aforementioned errors, thereby ensuring that each elastic suction cup 130 can effectively adsorb the adsorbed object. At the same time, the compression amount of the elastic suction cups 130 at the trigger signal is kept at a certain distance from the compression amount at the time of over-compression, which can also effectively avoid over-compression of the elastic suction cups 130.

[0047] It is easy to understand that the elastic suction cup 130 is a suction cup structure that can be compressed when pressed and can return to its original position when no force is applied, which is easy for those skilled in the art to design. For example, the elastic suction cup 130 in this embodiment is similar in structure to the aforementioned elastic lifting rod 121, the only difference being that the movable rod is a hollow rod to form an adsorption channel, and the suction cup body is installed at the bottom end of the movable rod.

[0048] It should be noted that the distribution pattern of the elastic suction cups 130 on the support frame 110 can be multiple concentric rings, with each concentric ring corresponding to a group of elastic suction cups 130. In actual use, the corresponding group of elastic suction cups 130 can be vacuumed according to the size of the object being attracted, while the other groups are devastated, thus adapting to objects of different sizes.

[0049] The box adsorption assembly 140 includes a sponge suction cup 141, which is installed in the middle region of the support frame 110 with its adsorption surface located at its bottom. The sponge suction cup 141 is driven to move up and down, and when the sponge suction cup 141 is at its lower limit position, it is flush with the bottom surface of the elastic lifting rod 121 that triggers the positioning signal. The sponge suction cup 141 is used to adsorb foam boxes and foam box lids. During adsorption, the sponge suction cup 141 moves to the lower limit position and descends with the support frame 110 to trigger the positioning signal.

[0050] It is easy to understand that the sponge suction cup 141 is a mature structure in this field. It is connected to a positive pressure pipeline through an air line connector, and the positive pressure air line is converted into a vacuum by a vacuum generator. Its bottom adsorption surface is a sponge with a certain thickness, which can adapt to adsorb uneven surfaces.

[0051] It should be noted that the sponge at the bottom of the sponge suction cup 141 will be compressed and deformed when it is adsorbed. Therefore, when the sponge suction cup 141 is in the lower limit position, it is flush with the bottom surface of the elastic lifting rod 121 that triggers the positioning signal. This should be understood as the bottom surface of the sponge after adsorption and compression being flush with the bottom surface of the elastic lifting rod 121 that triggers the positioning signal. This is clear to those skilled in the art.

[0052] It is easy to understand that since the sponge suction cup 141 is flush with the bottom surface of the elastic lifting rod 121 that triggers the positioning signal when it is in the lower limit position, and the elastic suction cup 130 reaches its maximum compression when the positioning signal is triggered, by controlling the sponge suction cup 141 to be in the upper limit position, it is possible to effectively avoid contact between the sponge suction cup 141 and the large glass panel when adsorbing the large glass panel, thus avoiding damage.

[0053] To improve adsorption stability, the box adsorption assembly 140 in this embodiment is provided in two sets and is distributed at intervals along the length of the support frame 110.

[0054] Specifically, the driving component used for the lifting and lowering of the sponge suction cup 141 is not limited. For example, in this embodiment, a first telescopic cylinder 142 is used to drive the sponge suction cup 141. The cylinder body of the first telescopic cylinder 142 is fixed on the support frame 110, and the piston rod of the first telescopic cylinder 142 is connected to the sponge suction cup 141 to drive the sponge suction cup 141 to lift and lower. Since the stroke of the telescopic cylinder is definite, and the sponge suction cup 141 only needs to stay at the upper and lower limit positions, and the overall mechanism has multiple air passages, the use of a telescopic cylinder has better adaptability.

[0055] In addition, the conveying mechanism of this embodiment is also provided with an anti-slip assembly 150. The anti-slip assembly 150 includes a striking block 151. The striking block 151 is mounted on the support frame 110 and is driven to move up and down. The striking block 151 is used to reciprocate to strike the adsorbed pad through the up and down movement to avoid slipping.

[0056] It's easy to understand that because the pad is usually made of flexible material, it's difficult for it to adhere to the underside of the large glass pane when adsorbing it. Typically, the edges of the pad will warp downwards, eventually causing it to detach completely from the glass. However, when adsorbing the pad, because the adsorption surfaces of multiple elastic suction cups 130 are on the same plane, the pad remains flat during adsorption, making it highly likely that the large glass pane will adhere to the underside of the pad and be pulled along. Therefore, this embodiment includes an anti-slip assembly 150, which uses a striking block 151 to repeatedly impact the pad, causing the glass pane below to fall off. Of course, the impact should occur when the pad has just been adsorbed and lifted a small distance, to prevent excessive impact force when the large glass pane falls due to a large distance, which could cause it to shatter.

[0057] It is easy to understand that when the impact block 151 is driven to the upper limit position, it should be higher than the bottom surface of the elastic lifting rod 121 that triggers the positioning signal, so as to avoid damage to the large glass panel; when the impact block 151 is driven to the upper limit position, it should be lower than the adsorption surface of the elastic suction cup 130, so as to be able to contact the pad for reciprocating impact.

[0058] It should be noted that the impact block 151 should be made of non-metallic materials such as polyurethane to avoid excessive impact damage.

[0059] Specifically, the driving component used for the impact block 151 is not limited. For example, in this embodiment, a second telescopic cylinder 152 is used to drive the impact block 151. The cylinder body of the second telescopic cylinder 152 is fixed on the support frame 110, and the piston rod of the second telescopic cylinder 152 is connected to the impact block 151 to drive the impact block 151 to rise and fall. Since the stroke of the telescopic cylinder is deterministic, and the impact block 151 only needs to stay at the upper and lower limit positions, and the overall mechanism has multiple air passages, the use of a telescopic cylinder provides better adaptability.

[0060] In addition, the conveying mechanism of this embodiment is also provided with an air blowing head 160, which is installed at the edge of the support frame 110 and used to blow air onto the edge of the adsorbed pad. The air blowing head 160 mainly works with the anti-slip assembly 150 to prevent the pad from slipping: the anti-slip assembly 150 causes the large glass panel attached to the bottom of the pad to fall off due to vibration generated by repeated impacts, while the air blowing head 160 blows air through its edge portion between the pad and the large glass panel attached to the bottom of the pad to break the bonding force between the two, thereby causing the large glass panel to fall off.

[0061] Specifically, the structure of the air blowing head 160 is not limited. For example, in this embodiment, the air blowing head 160 is an air blowing bamboo tube; the top of the air blowing bamboo tube is connected to the positive pressure air circuit through an air circuit connector and is controlled to open and close by a solenoid valve; the bottom of the air blowing bamboo tube is an air blowing nozzle, and the direction of the air blowing nozzle can be manually adjusted to adapt to large glass panels or pads of various sizes.

[0062] Furthermore, the handling mechanism of this embodiment also includes a distance sensor 170, which is mounted on the support frame 110 and used to detect the distance between itself and the object being attracted. Since the vertical lifting distance during handling is relatively long, although the accuracy of the distance sensor 170 is insufficient for the suction cups, it enables the support frame 110 to move the elastic suction cup 130 and the sponge suction cup 141 to a safe distance. At this safe distance, the elastic suction cup 130 and the object being attracted are still separated by a small distance. Before reaching this safe distance, the support frame 110 descends at a relatively high speed, and after reaching the safe distance, it decelerates and slowly descends until the trigger signal is activated. In this way, handling efficiency can be effectively improved.

[0063] Specifically, the structure of the ranging sensor 170 is not limited. For example, in this embodiment, the ranging sensor 170 is an ultrasonic sensor that detects and reports the distance between objects in real time through ultrasonic wave reflection.

[0064] Example 2

[0065] Reference Figure 5This embodiment provides an automatic unpacking and handling device for large glass panels, including a six-axis robot 200, an automatic unpacking and handling mechanism for large glass panels, and a platform 300.

[0066] Among them, the six-axis robot 200 is a mature structure in this field, and will not be described in detail here.

[0067] The large-pane glass automatic unpacking and handling mechanism is the structure described in Example 1, and the support frame 110 is connected to the output end of the six-axis robot 200.

[0068] Platform 300 is equipped with a loading station, a unloading station, and a turnover station.

[0069] The working principle of the automatic unpacking and handling device for large glass panels in this embodiment is as follows:

[0070] S1. At the unloading station, an empty foam box is manually placed or left over from the last handling. At the loading station, multiple layers of foam boxes containing large glass panels and pads are placed, and each foam box is topped with a foam box lid.

[0071] S2. The six-axis robot 200 drives the large glass automatic unpacking and handling mechanism to move to the loading station. At this time, the sponge suction cup 141 and the impact block 151 are both in the upper limit position.

[0072] S3. Under the feedback control of the ranging sensor 170, the six-axis robot 200 drives the support frame 110 to move to the safe distance at a relatively fast speed; after reaching the safe distance, the six-axis robot 200 slowly descends until the positioning signal is triggered, and the six-axis robot 200 stops descending.

[0073] S4. Moving the top foam box lid: The sponge suction cup 141 moves downward to the lower limit position to contact and adsorb the foam box lid; the six-axis robot 200 drives the foam box lid to move in the space and places the foam box lid on the turnover station; during this process, the elastic suction cup 130 is in a vacuum state.

[0074] S5. Repeat steps S2 and S3;

[0075] S6. Handling large glass panels: The elastic suction cup 130 uses vacuum to adsorb the large glass panels through negative pressure; the six-axis robot 200 moves the large glass panels in space and transfers them to the next process;

[0076] S7. Repeat steps S2 and S3;

[0077] S8. Transport pad: The elastic suction cup 130 is vacuumed and the pad is adsorbed by negative pressure; the six-axis robot 200 drives the pad to move in the space and places the pad in the empty foam box located at the unloading station; during this process, the impact block 151 is controlled to reciprocate to impact the pad, and the air blowing head 160 is controlled to blow air to the edge of the pad to avoid stripping.

[0078] S9. Repeat steps S5 to S8 multiple times until all the large glass panels in the top foam box are transferred to the next process and all the pads are placed in the empty foam box located at the unloading station.

[0079] S10. The six-axis robot places the foam box lid located at the turnover station on top of the foam box located at the unloading station;

[0080] S11. Repeat steps S2 and S3;

[0081] S12. Transporting the top layer foam box: The sponge suction cup 141 moves downward to the lower limit position to contact and adhere to the inner bottom wall of the foam box; the six-axis robot 200 drives the foam box to move in space and places the foam box on the unloading station; during this process, the elastic suction cup 130 is in a vacuum state; thus, the automatic unpacking and transport of the top layer box is completed.

[0082] S13. Repeat steps S2 to S12 to complete the automatic unpacking and handling of other layers of boxes.

[0083] The above are merely specific embodiments of the present invention, enabling those skilled in the art to understand or implement the present invention. Although detailed descriptions have been provided with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments, and they should all be covered within the protection scope of the claims.

Claims

1. A large plate glass automatic unpacking and carrying mechanism characterized by comprising: Comprising: a support frame (110); a position detection assembly (120) comprising a flexible lifting rod (121) installed at a middle region of the support frame (110) and a metal proximity sensor (122) fixed relative to the support frame (110) and located above the flexible lifting rod, the metal proximity sensor (122) sending a position signal when the flexible lifting rod is pressed to a top end to reach a height where the metal proximity sensor (122) is located; a plurality of flexible suction cups (130) evenly distributed on the support frame (110), the suction surfaces of the flexible suction cups (130) being located at bottom ends thereof, the suction surfaces of the plurality of flexible suction cups (130) being located on a same horizontal plane and being flush with a bottom end surface of the flexible lifting rod (121), the flexible suction cups (130) being used to adsorb a large plate glass and a backing plate, and the flexible suction cups (130) descending with the support frame (110) to trigger the position signal when adsorbed; a box adsorption assembly (140) comprising a sponge suction cup (141) installed at a middle region of the support frame (110) and having a suction surface located at a bottom end thereof, the sponge suction cup (141) being driven to move up and down and being flush with the bottom end surface of the flexible lifting rod (121) when in a lower limit position, the sponge suction cup (141) being used to adsorb a foam box and a foam box cover, and the sponge suction cup (141) moving to the lower limit position and descending with the support frame (110) to trigger the position signal when adsorbed.

2. The automatic unpacking and handling mechanism for large glass sheets according to claim 1, characterized in that, The box adsorption assembly (140) is provided with two sets and is spaced along a length direction of the support frame (110).

3. The automatic unpacking and handling mechanism of large glass sheets according to claim 2, characterized in that, The box adsorption assembly (140) further comprises a first telescopic air cylinder (142), a cylinder body of the first telescopic air cylinder (142) being fixed on the support frame (110), and a piston rod of the first telescopic air cylinder (142) being connected with the sponge suction cup (141) to drive the sponge suction cup (141) to move up and down.

4. The automatic unpacking and handling mechanism for large glass sheets according to claim 1, characterized in that, Further comprising a strip prevention assembly (150) comprising a striker (151) installed on the support frame (110) and driven to move up and down, the striker (151) being used to reciprocally strike the adsorbed backing plate by moving up and down to prevent strips.

5. The automatic unpacking and handling mechanism of large glass sheets according to claim 4, characterized in that, The strip prevention assembly (150) further comprises a second telescopic air cylinder (152), a cylinder body of the second telescopic air cylinder (152) being fixed on the support frame (110), and a piston rod of the second telescopic air cylinder (152) being connected with the striker (151) to drive the striker (151) to move up and down.

6. The automatic unpacking and handling mechanism of large glass sheets according to claim 4 or 5, characterized in that, Further comprising a blowing head (160) installed at an edge of the support frame (110) and used to blow air to an edge of the adsorbed backing plate.

7. The automatic unpacking and handling mechanism of large glass sheets according to claim 1, characterized in that, Further comprising a distance measuring sensor (170) installed on the support frame (110) and used to detect a distance between the support frame (110) and an adsorbed object.

8. An automatic unpacking and handling device for large sheets of glass, characterized in that, Comprising: Six-axis robot (200); The automatic unpacking and carrying mechanism for large plate glass according to any one of claims 1 to 7, and the support frame (110) is connected to the output end of the six-axis robot (200); A platform (300) is provided with a feeding station, a discharging station and a turnover station.

Images