Automatic material transferring and wiping connection equipment after AS baking

Abstract

The invention discloses automatic material transferring and wiping line connecting equipment after AS baking, which comprises a rack, and a baking tray feeding variable-pitch mechanism, a stacking mechanism, a tray separating mechanism, a baking tray taking mechanism, a baking tray discharging mechanism, a material taking variable-pitch mechanism, an overturning variable-pitch mechanism, a discharging mechanism and a blanking mechanism which are sequentially arranged along the material flow direction, the trays are taken and transferred to a tray discharging station to be stacked and recycled; the material taking and pitch changing mechanism sucks a plurality of glass sheets from the baking tray and adjusts the pitch, the overturning and pitch changing mechanism sucks, overturns and adjusts the pitch again, the discharging mechanism carries and conveys the glass sheets to a discharging station, and the discharging mechanism places the glass sheets to a wiping connection line at a time. According to the equipment, automatic transferring, beat matching and high-stability line connection of the baked glass sheets are achieved. According to the invention, through cooperative control of baking tray stacking and separating and variable-pitch carrying and overturning of the glass sheets, the baked glass sheets are automatically transferred and stably guided into a wiping connection line at a high beat, so that the productivity is improved, the chuck and damage are reduced, and manual intervention is reduced.

Description

Technical Field

[0001] This invention relates to the field of automation equipment technology, specifically to an automatic material transfer and wiping line device after AS baking. Background Technology

[0002] In the manufacturing process of products such as display panels, optical glass, and cover glass, after completing preliminary processes such as coating, exposure / development, printing, or lamination, glass sheets typically need to undergo baking (oven / hot air furnace / tunnel oven) to achieve solvent evaporation, adhesive layer curing, stress release, or film performance stabilization. For ease of batch transport and heat treatment, glass sheets are generally placed on baking trays, pallets, or fixtures with racks before entering the baking equipment. After baking, the glass sheets need to be transferred from the baking trays and proceed to in-line processes such as wiping, cleaning, dust removal, or subsequent lamination / inspection.

[0003] Due to the thinness, fragility, and easy scratching of glass sheets, coupled with the high temperature of the tooling after baking, the need for fast cycle times, and the numerous interfaces with upstream and downstream equipment, the automated connection of "automatic material transfer + pitch matching + flipping and introduction into the wiping line" after baking has become a key aspect of production line upgrades. Existing production lines typically include processes such as baking tray / pallet conveying, buffer stacking, tray separation, tray retrieval, tray return and recycling, as well as the processes of picking up glass sheets from the baking tray, pitch adjustment, flipping, receiving and introducing them into the wiping connection line, all of which require the coordinated operation of multiple mechanisms.

[0004] The shortcomings of existing technology: 1. Difficulty in matching the feeding and discharging rhythm of baking pans / trays The timing of the discharge end of the baking equipment is often inconsistent with that of the subsequent wiping or cleaning line. Existing solutions mostly use fixed-pitch conveying or single variable-pitch conveying, which cannot simultaneously take into account the baking tray buffering efficiency and the glass sheet picking and placing timing, which can easily lead to material blockage, material interruption or waiting, and reduce the overall line capacity.

[0005] 2. Lacks a stable baking pan buffer and partitioning mechanism, making it prone to jamming / tilting. If the structure of the baking tray stacking buffer and the separation of a single tray is not perfect, problems such as tilting of the stacked baking trays, failure of the bottom baking tray to be released smoothly, multiple trays being connected during separation, and edge interference may occur, leading to frequent shutdowns and manual intervention.

[0006] 3. Tray retrieval and recovery are often scattered, occupying a large area and lacking reliability. Existing solutions often divide the process of taking out the trays, transferring them, and stacking and recycling them into multiple equipment sections or use manual handling. This results in problems such as large equipment footprint, untimely tooling recycling, uneven stacking of baking trays that are prone to collapse, and high safety risks during hot tray handling, which affect continuous production.

[0007] 4. The glass slide has poor flexibility in handling food from the baking tray, making it prone to failure or damage during handling. The glass sheet may have positional deviations, thermal deformation leading to changes in adhesion, and residual volatiles on the surface. Traditional single adsorption head or fixed spacing adsorption methods have poor adaptability to glass sheets of different specifications and arrangements, and are prone to missed adsorption, biased adsorption, lifting, slippage, and even damage to the edges or scratches on the surface.

[0008] 5. Flipping and pitch adjustment usually require multiple hand changes, resulting in a slow pace and a high risk of film dropping. Some solutions involve different robots or workstations performing flipping, transfer, and pitch adjustment, resulting in more frequent hand changes, accumulated positioning errors, and longer cycle times. If there is a lack of stable adsorption support and displacement mechanism during the flipping process, there is a risk of dropping pieces, collisions, and incomplete flipping.

[0009] 6. Inconsistent interface with the wiping connector leads to poor import stability. The entry of glass slides into the wiping line typically requires specific pitch, orientation, and positioning accuracy. Existing solutions often rely on simple conveying or manual placement, making it difficult to achieve "multiple slides fed at once + precise alignment." This can easily lead to stacking, skewness, and collisions with the wiping mechanism at the wiping entrance, affecting wiping quality and equipment stability.

[0010] Therefore, existing technologies have shortcomings and need further improvement. Summary of the Invention

[0011] To address the problems existing in the prior art, this invention provides an automatic material transfer and wiping line device after AS baking.

[0012] To achieve the above objectives, the specific solution of the present invention is as follows: This invention provides an automatic material transfer and wiping line device after AS baking, including a frame and materials arranged sequentially along the material flow direction on the frame: The baking tray feeding pitch adjustment mechanism is used to convey the baking tray carrying the glass sheet along the material flow direction and adjust the distance between adjacent baking trays in the material flow direction from the first pitch to the preset pitch. A stacking mechanism is used to vertically stack and buffer the baking trays conveyed by the baking tray feeding pitch mechanism; The tray separating mechanism is used to separate a single baking tray from the stacked baking trays of the stacking mechanism and transfer the single baking tray to the tray retrieval station; A baking tray picking mechanism is used to pick up the single baking tray at the tray picking station and transfer the single baking tray to the tray unloading station; A baking tray dispensing mechanism is used to stack and recycle the individual baking trays at the dispensing station; The material handling pitch adjustment mechanism is used to pick up multiple glass sheets from a baking tray located at the material handling station, and to adjust the pitch of the glass sheets in the material flow direction during the picking and conveying process; The tilting and pitch-changing mechanism is used to adsorb the glass sheet transferred by the material handling and pitch-changing mechanism, drive the glass sheet to tilt around the tilting axis, and readjust the pitch of the glass sheet before and after tilting. The unloading mechanism is used to receive the flipped glass sheet and transfer the glass sheet to the unloading station; The unloading mechanism is used to pick up multiple glass sheets from the unloading station at one time and place the glass sheets onto the wiping connection line; The system is electrically connected to the drive components, position sensing components and vacuum detection components of the above-mentioned mechanisms. The system is used to coordinate the actions of the above-mentioned mechanisms according to the preset process flow to realize the automatic stacking, separation, removal and unloading of baking trays, as well as the variable-distance handling, flipping and introduction of glass sheets into the wiping connection line.

[0013] Furthermore, the baking tray feeding variable pitch mechanism includes a drive servo motor, a conveyor belt, and an adjustable guide assembly; The adjustable guide assembly includes a first guide and a second guide located on both sides of the conveyor belt, the distance between the first guide and the second guide being adjustable, for guiding and limiting the baking tray; The control system adjusts the rotational speed of the drive servo motor to change the conveying speed of the conveyor belt, thereby adjusting the spacing between adjacent baking trays from the first pitch to the preset pitch. The conveyor belt is a high-temperature resistant, wear-resistant, and anti-deviation conveyor belt, and the baking tray feeding pitch adjustment mechanism is equipped with a maintenance viewing window, which includes a magnetic locking structure and a hidden handle.

[0014] Furthermore, the stacking mechanism includes a guide assembly, a lifting assembly, and a side fixing member; The guiding component is configured to guide and limit at least two sides of the stacked baking trays; The lifting component is located below the stacking station and can move up and down to lift and position the stacked baking trays during the stacking process, and to release the bottom baking tray during the tray separation process. The side fixing members are located on both sides of the stacked baking trays and are used to limit the lateral displacement of the stacked baking trays so that the bottom baking tray can be received and moved out by the tray-separating mechanism.

[0015] Furthermore, the tray-splitting mechanism includes a tray-splitting conveyor belt, a rubber-coated pallet, a lifting cylinder, and a side-push assembly; One end of the tray conveyor belt is located below the stacking mechanism to receive the bottom baking tray released by the stacking mechanism. The rubber-coated pallet is disposed on the upper surface of the tray conveyor belt and moves with the tray conveyor belt, and is used to flexibly support and prevent slippage of the baking tray. The lifting cylinder is located below the tray conveyor belt and is used to drive the rubber-coated pallet and the tray conveyor belt to rise and fall in the vertical direction, so as to receive and detach the bottom baking tray. The side-pushing components are located on both sides of the tray conveyor belt and are used to laterally correct a single baking tray and guide it into the tray-retrieving station.

[0016] Furthermore, the baking tray picking mechanism includes a first Z-axis cylinder, a first linear module, and a gripper mechanism; The first linear module is used to drive the first Z-axis cylinder to move linearly in the horizontal direction, and the first Z-axis cylinder is used to drive the gripper mechanism to move up and down in the vertical direction. The gripper mechanism is a hook-type gripping structure, configured to grip and lift the baking tray from the side edge or reinforcing edge of the baking tray, so as to transfer the baking tray from the tray retrieval station to the tray unloading station.

[0017] Furthermore, the baking tray dispensing mechanism includes a second Z-axis module and a side baffle; The lateral baffle is used to laterally limit the baking tray during the stacking and recycling process; The second Z-axis module is located below the side baffle and is used to drive the support component to move up and down, so that the baking tray can be placed layer by layer from top to bottom and stacked for recycling.

[0018] Furthermore, the material handling variable distance mechanism includes two sets of independent handling robots; Each handling robot includes a second linear module, a third Z-axis module, a first mounting plate, a first adsorption assembly, a second adsorption assembly, and an adjustable cylinder. The first mounting plate is mounted on the third Z-axis module, and the third Z-axis module is mounted on the second linear module; The first adsorption component is installed at the output end of the adjustable cylinder, and the second adsorption component is fixed on the first mounting plate; The adjustable cylinder is used to adjust the relative distance between the first adsorption component and the second adsorption component to adjust the glass sheet pitch; the first adsorption component and the second adsorption component are used for vacuum adsorption of the glass sheet.

[0019] Furthermore, the tilting and pitch-changing mechanism includes a tilting motor, a tilting shaft, a displacement motor, a vacuum platform, and a displacement synchronous belt; The rotating shaft is connected to the output end of the rotating motor to rotate around the axis under the drive of the rotating motor; The vacuum platform is configured to slide along the axial direction of the flipping axis, and the vacuum platform is used for vacuum adsorption of glass sheets; The displacement timing belt is fixedly connected to the vacuum platform, and the displacement motor is used to drive the displacement timing belt to move, thereby driving the vacuum platform to move axially, so as to realize the adjustment of the position / pitch of the glass plate before and after flipping.

[0020] Furthermore, the discharge mechanism includes a second mounting plate, a slide rail, a third synchronous belt, a third motor, and a second lifting cylinder; The two ends of the second mounting plate are respectively slidably engaged with the slide rail, and the second mounting plate is fixedly connected to the third synchronous belt; The third motor is used to drive the third synchronous belt to move, so as to drive the second mounting plate to reciprocate along the slide rail; The second lifting cylinder is mounted on the second mounting plate, and a support plate is provided at the output end of the second lifting cylinder. The support plate is used to receive and place the glass sheet.

[0021] Furthermore, the feeding mechanism includes a third adsorption component, a fourth Z-axis component, and a third linear module; The third adsorption component is used to pick up multiple glass sheets from the tray at one time. The third adsorption component is mounted on the fourth Z-axis component, and the fourth Z-axis component is used to drive the third adsorption component to move up and down in the vertical direction; The fourth Z-axis assembly is mounted on the third linear module, which drives the fourth Z-axis assembly to move linearly in the horizontal direction to place the glass sheet onto the wiping connection line.

[0022] The technical solution of this invention has the following beneficial effects: 1. Achieve a stable connection between the baking and wiping processes: Through the coordinated operation of the baking tray feeding pitch change, stacking buffer, tray separation, tray picking and transfer, tray unloading and stacking recycling, and glass sheet picking pitch change, flipping pitch change, unloading and unloading into the wiping connection line, the baking unloading and wiping processes are automated, reducing manual handling and intermediate storage.

[0023] 2. Adaptive matching of cycle time and spacing to improve overall production capacity: The baking tray feeding pitch adjustment mechanism and the material handling / turning pitch adjustment mechanism are set up to realize multi-level adjustment of the baking tray pitch and the glass sheet pitch, so that the upstream baking and discharge cycle time and the downstream wiping and connecting line cycle time can be flexibly matched, avoiding material blockage, material interruption and waiting, and improving continuous production capacity.

[0024] 3. Stacking buffer and tray separation are more reliable, reducing tray jamming and downtime: The guide limit, lifting support and lateral fixation of the stacking mechanism, together with the receiving lifting and lateral push correction of the tray separation mechanism, can stably release the bottom tray and achieve single tray separation, reducing the probability of failures such as skewing, tray congestion and jamming, and improving the stability of equipment operation.

[0025] 4. Automatic baking tray recycling reduces the risk of manual handling of high-temperature tooling: The baking tray picking mechanism transfers a single tray to the tray dispensing station, and the baking tray dispensing mechanism recycles the baking trays in a stacked manner, realizing closed-loop recycling management of baking trays, reducing manual handling of high-temperature baking trays, improving safety and reducing the risk of tooling loss and material mixing.

[0026] 5. More stable vacuum suction and handling of glass sheets, reducing breakage and scratches: The material handling variable distance mechanism adopts multiple adsorption components in combination with Z-axis lifting and horizontal linear modules to achieve flexible picking and placing, which can improve adsorption coverage and support stability, reduce the risk of missed suction, bias suction, slippage and corner breakage, and improve yield.

[0027] 6. Integrating flipping and displacement reduces the number of hand changes and improves positioning accuracy: The flipping and pitch-changing mechanism uses a vacuum platform to adsorb the glass sheet and is driven to flip by a flipping motor. At the same time, the displacement motor and synchronous belt are used to readjust the platform displacement and pitch, reducing intermediate hand changes and error accumulation, and improving the positioning accuracy and cycle time of flipping and guiding to the work station.

[0028] 7. One-time multi-piece feeding and wiping line, high feeding efficiency and consistent alignment: The feeding mechanism can pick up multiple glass pieces at once and place them on the wiping connection line, realizing batch feeding and consistent alignment, reducing the cycle time loss and posture deviation caused by placing single pieces one by one, and improving the stable feeding capacity of the wiping inlet. Attached Figure Description

[0029] Figure 1 This is the three-dimensional representation of the present invention. Figure 1 ; Figure 2 This is the three-dimensional representation of the present invention. Figure 2 ; Figure 3 The three-dimensional representation of the present invention after removing the outer shell. Figure 1 ; Figure 4 The three-dimensional representation of the present invention after removing the outer shell. Figure 2 ; Figure 5 The present invention is a three-dimensional baking tray feeding variable pitch mechanism. Figure 1 ; Figure 6 The present invention is a three-dimensional baking tray feeding variable pitch mechanism. Figure 2 ; Figure 7 The stacking mechanism and disk separating mechanism of the present invention are three-dimensional. Figure 1 ; Figure 8 The stacking mechanism and disk separating mechanism of the present invention are three-dimensional. Figure 2 ; Figure 9 The three-dimensional baking tray picking mechanism of the present invention Figure 1 ; Figure 10 The three-dimensional baking tray picking mechanism of the present invention Figure 2 ; Figure 11 The three-dimensional baking tray dispensing mechanism of the present invention Figure 1 ; Figure 12 The three-dimensional baking tray dispensing mechanism of the present invention Figure 2 ; Figure 13 This is a three-dimensional representation of the material handling and pitch-changing mechanism of the present invention. Figure 1 ; Figure 14 This is a three-dimensional representation of the material handling and pitch-changing mechanism of the present invention. Figure 2 ; Figure 15 This is a three-dimensional representation of the flipping and shifting distance mechanism of the present invention. Figure 1 ; Figure 16 This is a three-dimensional representation of the flipping and shifting distance mechanism of the present invention. Figure 2 ; Figure 17 This is a three-dimensional discharge mechanism of the present invention. Figure 1 ; Figure 18 This is a three-dimensional discharge mechanism of the present invention. Figure 2 ; Figure 19 This is a three-dimensional feeding mechanism of the present invention. Figure 1 ; Figure 20 This is a three-dimensional feeding mechanism of the present invention. Figure 2 ; Attached image captions: 1. Frame; 2. Baking tray feeding and pitch changing mechanism; 3. Stacking mechanism; 4. Tray separating mechanism; 5. Baking tray picking mechanism; 6. Baking tray unloading mechanism; 7. Picking and pitch changing mechanism; 8. Flipping and pitch changing mechanism; 9. Discharge mechanism; 10. Unloading mechanism; 11. Drive servo motor; 12. Conveyor belt; 13. First guide component; 14. Second guide component; 15. Guide assembly; 16. Lifting assembly; 17. Side fixing component; 18. Tray separating conveyor belt; 19. Lifting cylinder; 20. First Z-axis cylinder; 21. First linear module; 22. Gripper mechanism; 23. 24. Second Z-axis module; 25. Side baffle; 26. Second linear module; 27. Third Z-axis module; 28. First mounting plate; 29. ​​First adsorption assembly; 20. Second adsorption assembly; 31. Adjustable cylinder; 32. Tilting motor; 33. Tilting shaft; 34. Displacement motor; 35. Vacuum platform; 36. Displacement synchronous belt; 37. Second mounting plate; 38. Slide rail; 39. Third synchronous belt; 40. Third motor; 41. Second lifting cylinder; 42. Support plate; 43. Third adsorption assembly; 44. Fourth Z-axis assembly; 45. Third linear module. Detailed Implementation

[0030] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, only the parts related to the present invention are shown in the accompanying drawings, and not all of them.

[0031] Combination Figures 1-20 As shown, the present invention provides an automatic material transfer and wiping line device after AS baking, including a frame 1, and materials arranged sequentially along the material flow direction on the frame 1: The baking tray feeding pitch adjustment mechanism 2 is used to convey the baking tray carrying the glass sheet along the material flow direction and adjust the distance between adjacent baking trays in the material flow direction from the first pitch to the preset pitch. Stacking mechanism 3 is used to vertically stack and buffer the baking trays conveyed by the baking tray feeding pitch mechanism 2; The tray separating mechanism 4 is used to separate a single baking tray from the stacked baking trays of the stacking mechanism 3 and transfer the single baking tray to the tray retrieval station; The baking tray picking mechanism 5 is used to pick up the single baking tray at the tray picking station and transfer the single baking tray to the tray unloading station; The baking tray dispensing mechanism 6 is used to stack and recycle the individual baking trays at the dispensing station; The material picking pitch mechanism 7 is used to pick up multiple glass sheets from the baking tray located at the picking station, and adjust the pitch of the glass sheets in the material flow direction during the picking and conveying process; The flipping pitch mechanism 8 is used to adsorb the glass sheet transferred by the material handling pitch mechanism 7, drive the glass sheet to flip around the flipping shaft 32, and readjust the pitch of the glass sheet before and after flipping. The unloading mechanism 9 is used to receive the flipped glass sheet and transfer the glass sheet to the unloading station; The unloading mechanism 10 is used to pick up multiple glass sheets from the unloading station at one time and place the glass sheets onto the wiping connection line; The system is electrically connected to the drive components, position sensing components and vacuum detection components of the above-mentioned mechanisms. The system is used to coordinate the actions of the above-mentioned mechanisms according to the preset process flow to realize the automatic stacking, separation, removal and unloading of baking trays, as well as the variable-distance handling, flipping and introduction of glass sheets into the wiping connection line.

[0032] The baking tray feeding variable pitch mechanism 2 includes a drive servo motor 11, a conveyor belt 12, and an adjustable guide assembly. The adjustable guide assembly includes a first guide 13 and a second guide 14 located on both sides of the conveyor belt 12, and the distance between the first guide 13 and the second guide 14 is adjustable, which is used to guide and limit the baking tray. The control system adjusts the rotational speed of the drive servo motor 11 to change the conveying speed of the conveyor belt 12, thereby adjusting the spacing between adjacent baking trays from the first pitch to the preset pitch. The conveyor belt 12 is a high-temperature resistant, wear-resistant, and anti-deviation conveyor belt, and the baking tray feeding pitch change mechanism 2 is provided with a maintenance viewing window, which includes a magnetic locking structure and a hidden handle.

[0033] The stacking mechanism 3 includes a guide assembly 15, a lifting assembly 16, and a side fixing member 17; The guide component 15 is configured to guide and limit at least two sides of the stacked baking trays; The lifting component 16 is located below the stacking station and can move up and down to lift and position the stacked baking trays during the stacking process, and to release the bottom baking tray during the tray separation process. The side fixing members 17 are located on both sides of the stacked baking trays and are used to limit the lateral displacement of the stacked baking trays so that the bottom baking tray can be received and moved out by the tray-separating mechanism 4.

[0034] The tray-splitting mechanism 4 includes a tray-splitting conveyor belt 18, a rubber-coated pallet, a lifting cylinder 19, and a side-push assembly. One end of the tray conveyor belt 18 is located below the stacking mechanism 3 and is used to receive the bottom baking tray released by the stacking mechanism 3. The rubber-coated pallet is disposed on the upper surface of the tray conveyor belt 18 and moves with the tray conveyor belt 18, and is used to flexibly support and prevent slippage of the baking tray. The lifting cylinder 19 is located below the tray conveyor belt 18 and is used to drive the rubber-coated pallet and the tray conveyor belt 18 to rise and fall in the vertical direction, so as to receive and detach the bottom baking tray. The side-pushing components are located on both sides of the tray conveyor belt 18 and are used to laterally correct a single baking tray and guide it into the tray-retrieving station.

[0035] The baking tray picking mechanism 5 includes a first Z-axis cylinder 20, a first linear module 21, and a gripper mechanism 22. The first linear module 21 is used to drive the first Z-axis cylinder 20 to move linearly in the horizontal direction, and the first Z-axis cylinder 20 is used to drive the gripper mechanism 22 to move up and down in the vertical direction. The gripper mechanism 22 is a hook-type gripping structure, configured to grip and lift the baking pan from the side edge or reinforcing edge of the baking pan, so as to transfer the baking pan from the pan-retrieving station to the pan-discharging station.

[0036] The baking tray dispensing mechanism 6 includes a second Z-axis module 23 and a side baffle 24; The lateral baffle 24 is used to laterally limit the baking tray during the stacking and recycling process; The second Z-axis module 23 is located below the side baffle 24 and is used to drive the support component to move up and down, so that the baking tray can be placed layer by layer from top to bottom and stacked for recycling.

[0037] The material handling variable pitch mechanism 7 includes two sets of independent handling robots; Each handling robot includes a second linear module 25, a third Z-axis module 26, a first mounting plate 27, a first adsorption assembly 28, a second adsorption assembly 29, and an adjustable cylinder 30. The first mounting plate 27 is mounted on the third Z-axis module 26, and the third Z-axis module 26 is mounted on the second linear module 25; The first adsorption component 28 is installed at the output end of the adjustable cylinder 30, and the second adsorption component 29 is fixed on the first mounting plate 27. The pitch-adjusting cylinder 30 is used to adjust the relative distance between the first adsorption component 28 and the second adsorption component 29 to adjust the glass sheet pitch; the first adsorption component 28 and the second adsorption component 29 are used for vacuum adsorption of glass sheets.

[0038] The tilting and shifting mechanism 8 includes a tilting motor 31, a tilting shaft 32, a displacement motor 33, a vacuum platform 34, and a displacement synchronous belt 35; The flipping shaft 32 is connected to the output end of the flipping motor 31 so that it can rotate around the axis under the drive of the flipping motor 31. The vacuum platform 34 is configured to slide along the axial direction of the flipping shaft 32, and the vacuum platform 34 is used for vacuum adsorption of glass sheets; The displacement timing belt 35 is fixedly connected to the vacuum platform 34. The displacement motor 33 is used to drive the displacement timing belt 35 to move, thereby driving the vacuum platform 34 to move axially, so as to realize the adjustment of the position / pitch of the glass plate before and after flipping.

[0039] The discharge mechanism 9 includes a second mounting plate 36, a slide rail 37, a third synchronous belt 38, a third motor 39, and a second lifting cylinder 40; The two ends of the second mounting plate 36 are respectively slidably engaged with the slide rail 37, and the second mounting plate 36 is fixedly connected to the third synchronous belt 38; The third motor 39 is used to drive the third synchronous belt 38 to move, so as to drive the second mounting plate 36 to reciprocate along the slide rail 37; The second lifting cylinder 40 is mounted on the second mounting plate 36, and a support plate 41 is provided at the output end of the second lifting cylinder 40. The support plate 41 is used to receive and place the glass sheet.

[0040] The feeding mechanism 10 includes a third adsorption component 42, a fourth Z-axis component 43, and a third linear module 44; The third adsorption component 42 is used to pick up multiple glass sheets from the tray 41 at one time; The third adsorption component 42 is mounted on the fourth Z-axis component 43, and the fourth Z-axis component 43 is used to drive the third adsorption component 42 to move up and down in the vertical direction. The fourth Z-axis assembly 43 is mounted on the third linear module 44, which drives the fourth Z-axis assembly 43 to move linearly in the horizontal direction to place the glass sheet onto the wiping connection line.

[0041] Working principle The AS baking automatic transfer and wiping line equipment of the present invention is based on frame 1, decoupling the baking tray logistics from the glass sheet logistics: the front section forms a closed loop of baking trays around "baking tray feeding, buffering, stacking, single tray separation, tray picking, transfer, tray output, and recycling"; the rear section forms a glass sheet line output around "glass sheet suction, pitch adjustment, flipping, receiving, conveying, one-time unloading, and introduction into the wiping connection line". The control system coordinates and interlocks the various mechanisms through position sensing and vacuum detection, thereby realizing the automatic transfer and stable introduction into the wiping connection line of the baked glass sheets.

[0042] 1. Baking tray filling and pitch adjustment After baking, the baking trays carrying the glass sheets enter the baking tray feeding and pitch-changing mechanism 2. This mechanism conveys the baking trays via a conveyor belt 12 and maintains the stability of the baking trays under the guidance and limiting of the adjustable guide components. The control system adjusts the speed of the drive servo motor 11 so that the spacing between adjacent baking trays in the material flow direction is adjusted from the first pitch to the preset pitch to meet the cycle requirements of subsequent stacking and tray separation.

[0043] 2. Separation of stacked cache from single disk The baking tray, after being adjusted in pitch, enters the stacking mechanism 3. The guide component 15 of the stacking mechanism 3 guides and limits the baking tray, the side fixing component 17 restricts the lateral displacement of the stacked baking tray, and the lifting component 16 provides support and positioning for the stacking process, thereby forming a stable vertical stacking buffer.

[0044] When the downstream requires a tray, the lifting component 16, together with the side fixing component 17, releases the force and positions the bottom tray. The tray separating mechanism 4, located below the stacking mechanism 3, receives the bottom tray. The tray separating conveyor belt 18 drives the rubber-coated pallet to convey the tray. The lifting cylinder 19 switches the receiving / removing height. The side pushing component performs lateral correction on the single tray and guides it to the tray picking station, thereby achieving single tray separation and stable tray supply.

[0045] 3. Tray retrieval, transfer, and pallet stacking / recycling After a single baking tray enters the tray retrieval station, the tray retrieval mechanism 5 moves to the tray retrieval position under the drive of the first linear module 21. The first Z-axis cylinder 20 drives the gripper mechanism 22 to descend and perform barbed clamping on the side edge or reinforcing edge of the baking tray. Then, the baking tray is raised and transferred to the tray exit station.

[0046] At the tray unloading station, the tray unloading mechanism 6 uses the side baffle 24 to laterally limit the tray, and the second Z-axis module 23 drives the supporting component to move up and down, so that the trays can be placed layer by layer from top to bottom, realizing the stacking and recycling of the trays and completing the closed-loop logistics of the trays.

[0047] 4. Glass slide suction and dispensing pitch variation After the baking tray is in place at the material handling station, the material handling robot of the material handling variable pitch mechanism 7 (two sets are independent and can work in parallel) moves to the top of the baking tray; the third Z-axis module 26 moves down to bring the first adsorption component 28 and the second adsorption component 29 close to the surface of the glass sheet and establish vacuum adsorption.

[0048] The pitch adjustment cylinder 30 adjusts the relative distance between the first adsorption component 28 and the second adsorption component 29, so that the pitch of the multiple glass sheets being adsorbed in the material flow direction is adjusted to the target pitch that matches the downstream flipping and receiving station; then the handling robot, driven by the second linear module 25, moves the glass sheets to the receiving position of the flipping and pitch adjustment mechanism 8.

[0049] 5. Flip and readjust pitch The vacuum platform 34 of the flipping and turning mechanism 8 adsorbs and supports the glass sheet. The flipping motor 31 drives the flipping shaft 32 to rotate, so that the vacuum platform 34 and the glass sheet it supports are flipped around the flipping shaft 32 (e.g., flipped 0° / 180° or flipped to a specified angle according to process requirements), so as to meet the requirements of the wiping process for the posture or front and back of the glass sheet.

[0050] At the same time, the displacement motor 33 drives the displacement synchronous belt 35 to move, which in turn causes the vacuum platform 34 to move along the axial direction of the flipping shaft 32, thereby readjusting the position and pitch of the glass sheet before and after flipping, and achieving precise docking with the discharging mechanism 9 to receive the cycle.

[0051] 6. Responsible for conveying to the unloading station The second mounting plate 36 of the discharge mechanism 9 reciprocates along the slide rail 37 under the action of the third synchronous belt 38 driven by the third motor 39, moving to the receiving position below the vacuum platform 34; the second lifting cylinder 40 drives the pallet 41 to lift to the docking height, and the vacuum platform 34 releases the vacuum, allowing the glass sheet to fall onto the pallet 41. Subsequently, the second mounting plate 36 drives the pallet 41 to move the glass sheet to the unloading station, realizing the stable receiving and conveying of the glass sheet.

[0052] 7. One-time material feeding and wiping connection line At the unloading station, the third adsorption component 42 of the unloading mechanism 10 moves downward under the drive of the fourth Z-axis component 43 and picks up multiple glass sheets from the tray 41 at once. After the vacuum detection component confirms the adsorption state, the third linear module 44 drives the unloading mechanism 10 to move horizontally to the placement position of the wiping connection line. The fourth Z-axis component 43 moves downward and releases the vacuum, placing multiple glass sheets simultaneously onto the wiping connection line to achieve batch unloading and stable introduction.

[0053] 8. Control Interlocks and Detection Assurance The control system performs sequential control and interlocking of each conveying / lifting / clamping / adsorption / turning / displacement action: the position sensing component confirms the position status of the baking tray, pallet 41, and vacuum platform 34, and the vacuum detection component confirms the adsorption reliability, ensuring that the material picking, turning, receiving, and unloading processes are continuous and safe, thereby achieving stable operation of the entire line and high-speed continuous operation.

[0054] Example 1 This embodiment provides an automated transfer and wiping line device for AS (Autoclaved Aluminum) baking after baking, which can be directly implemented on-site. It automatically removes baked glass sheets from the baking tray, adjusts and flips the tray, and stably guides them onto the wiping connection line. Simultaneously, it achieves tray buffering, tray separation, tray removal and transfer, and stacking and recycling. The device mainly includes: a frame 1, a baking tray feeding pitch-changing mechanism 2, a stacking mechanism 3, a tray separation mechanism 4, a baking tray removal mechanism 5, a baking tray discharge mechanism 6, a tray removal pitch-changing mechanism 7, a flipping pitch-changing mechanism 8, a discharge mechanism 9, a feeding mechanism 10, and a control system.

[0055] 1. Overall Equipment Layout and Installation The frame 1 is a profile or welded frame structure, with baking tray logistics units and glass sheet logistics units arranged sequentially along the material flow direction. The upstream end is the discharge port of the baking equipment, and the downstream end is the inlet of the wiping connection line. Mounting positions for the electrical control box, air source treatment components, and vacuum generator are reserved on frame 1. The electrical control box houses a PLC / industrial PC, servo drivers, I / O modules, and safety relays. The overall air supply pressure is, for example, 0.5–0.7 MPa, and the vacuum system negative pressure is, for example, -55–-75 kPa.

[0056] 2. Baking tray feeding pitch and buffer stacking 1) Baking tray feeding pitch adjustment mechanism 2 The baking tray feeding variable pitch mechanism 2 includes a drive servo motor 11, a conveyor belt 12, and an adjustable guide assembly. The conveyor belt 12 adopts a high-temperature resistant, wear-resistant, and anti-deviation structure, and is equipped with guide rollers and a tensioning mechanism. The adjustable guide assembly includes a first guide member 13 and a second guide member 14 located on both sides of the conveyor belt. The distance between the two guide members can be adjusted by a screw / scale handwheel or an electric slide table to adapt to the shape of different sized baking trays. After the baking tray enters, it maintains its posture aligned with the center line under the limit of the guide members.

[0057] The control system adjusts the speed and acceleration / deceleration curve of the drive servo motor 11 to change the spacing between adjacent baking trays along the material flow direction from the first pitch to a preset pitch (e.g., from 200mm to 300mm or according to the process setting) to match the stacking / dividing cycle of the subsequent section. A viewing window (including a magnetic locking structure and a hidden handle) is provided on the side of the mechanism for quick inspection of belt misalignment and baking tray positioning status.

[0058] 2) Stacking mechanism 3 The stacking mechanism 3 includes a guide assembly 15, a lifting assembly 16, and side fixing components 17. The guide assembly 15 has guide plates / guide posts along both sides or around the baking trays to limit lateral swaying. The side fixing components 17 can be elastic clamping blocks or side baffles 24 to limit lateral displacement of the stacked baking trays and prevent stacking skew. The lifting assembly 16 is located below the stacking station and can be a lifting cylinder + support platform or a screw lifting mechanism. The lifting assembly 16 maintains a support height during stacking, allowing newly arrived baking trays to be stacked layer by layer, forming a vertical buffer (e.g., 10-30 tray capacity, configured according to production line cycle time).

[0059] 3. Tray splitting, tray retrieval, transfer, and tray stacking and recycling 1) Divider mechanism 4 The tray-separating mechanism 4 includes a tray-separating conveyor belt 18, a rubber-coated pallet, a lifting cylinder 19, and a side-push assembly. One end of the tray-separating conveyor belt 18 is located below the stacking mechanism 3 and is used to receive the bottommost baking tray released by the stacking mechanism 3. The rubber-coated pallet is set on the upper surface of the tray-separating conveyor belt 18 and moves with the belt. The rubber coating material (such as heat-resistant rubber / PU) is used for flexible support and anti-slip. The lifting cylinder 19 is located below the belt and is used to switch between "acceptance height / removal height". When the bottom baking tray needs to be removed, the lifting component 16 is slightly raised, the side fixing component 17 is kept in the limit position, and the lifting cylinder 19 lifts the rubber-coated tray to the receiving height, so that the bottom baking tray falls onto the tray and separates from the upper baking tray. Subsequently, the lifting cylinder 19 descends to the conveying height, and the tray conveyor belt 18 drives the baking tray to move towards the tray removal station.

[0060] The side push assembly can be a double-sided synchronous push rod or a cylinder side push block, used to correct the baking tray laterally during the conveying process, so that the baking tray is aligned with the center of the gripper when it reaches the tray picking station.

[0061] 2) Baking pan retrieving mechanism 5 and baking pan discharging mechanism 6 The baking tray retrieval mechanism 5 includes a first linear module 21, a first Z-axis cylinder 20, and a gripper mechanism 22. The first linear module 21 is arranged between the tray retrieval station and the tray ejection station, and is used to drive the gripper mechanism 22 to reciprocate. The first Z-axis cylinder 20 is used to drive the gripper mechanism 22 to move up and down. The gripper mechanism 22 is a hook-type gripping structure, with its hook end extending into and clamping the baking tray from the side edge or reinforcing edge, and then lifting it by raising the Z-axis. To reduce the risk of baking tray deformation and slippage, the gripper mechanism 22 can be equipped with elastic compensation and clamping position detection (such as a limit switch).

[0062] The baking tray dispensing mechanism 6 includes a second Z-axis module 23 and a side baffle 24. The side baffle 24 provides lateral restraint to the baking trays in the stacking and recycling area; the second Z-axis module 23 drives the supporting component to move up and down, so that the baking trays can be stacked and recycled in a "top-to-bottom layer-by-layer" manner: after the gripper delivers the baking tray to the dispensing station, the supporting component is at the receiving height. After the baking tray is released, the second Z-axis module 23 descends by one tray height, completing the stacking positioning and waiting for the next tray to be recycled.

[0063] 4. Glass sheet material handling and conveying systems with varying loading and unloading distances. 1) Material handling pitch changing mechanism 7 The material handling variable pitch mechanism 7 includes two independent handling robots (which can handle materials alternately in parallel to meet the cycle time). Each handling robot includes a second linear module 25, a third Z-axis module 26, a first mounting plate 27, an adjustable pitch cylinder 30, a first adsorption component 28, and a second adsorption component 29.

[0064] The third Z-axis module 26 is mounted on the second linear module 25, which moves between the baking tray picking station and the flipping station. The first mounting plate 27 is fixed to the end of the third Z-axis module 26. The second adsorption assembly 29 is fixed on the first mounting plate 27. The first adsorption assembly 28 is mounted on the output end of the adjusting cylinder 30, which is fixed on the first mounting plate 27 and used to change the distance between the first adsorption assembly 28 and the second adsorption assembly 29. The two adsorption assemblies can be a multi-suction cup array structure to achieve the simultaneous adsorption of multiple glass sheets.

[0065] During material handling, the robotic arm moves above the baking tray, and the third Z-axis module 26 descends to the material handling height. The first adsorption component 28 and the second adsorption component 29 approach the glass sheet and activate vacuum adsorption. After the vacuum detection component detects that the negative pressure reaches the threshold (e.g., ≤-60kPa and maintained for ≥0.2s), the third Z-axis module 26 rises to a safe height. Subsequently, the pitch adjustment cylinder 30 adjusts the relative distance between the two adsorption components according to the target pitch command, realizing the adjustment of the glass sheet pitch during the handling process and avoiding mutual interference during downstream flipping / receiving.

[0066] 2) Tilting mechanism 8 The tilting and pitch-changing mechanism 8 includes a tilting motor 31, a tilting shaft 32, a displacement motor 33, a displacement timing belt 35, and a vacuum platform 34. The tilting shaft 32 is connected to the output end of the tilting motor 31, and the tilting motor 31 drives the tilting shaft 32 to rotate around its axis. The vacuum platform 34 can be slidably mounted along the axial direction of the tilting shaft 32 and is used to adsorb and support the glass slide. The lower side of the vacuum platform 34 is fixedly connected to the displacement timing belt 35. The displacement motor 33 drives the timing belt to move, causing the vacuum platform 34 to move axially along the tilting shaft 32, thereby realizing the readjustment of the position / pitch of the glass slide before and after tilting.

[0067] Specific actions: After the material handling and variable distance mechanism 7 moves the glass sheet above the vacuum platform 34, the vacuum platform 34 opens the vacuum pipe to adsorb the glass, and the robot releases the vacuum and retracts; the flipping motor 31 drives the vacuum platform 34 to rotate around the flipping axis 32 (e.g., flipping 180° or according to the process setting angle), and then the displacement motor 33 drives the vacuum platform 34 to move axially to the docking position of the discharge mechanism 9, realizing the integration of "flipping + variable distance + docking".

[0068] 3) Discharge mechanism 9 The unloading mechanism 9 includes a second mounting plate 36, a slide rail 37, a third synchronous belt 38, a third motor 39, and a second lifting cylinder 40. A support plate 41 is mounted at the output end of the second lifting cylinder 40. The two ends of the second mounting plate 36 are slidably engaged with the slide rail 37, and one side is fixedly connected to the third synchronous belt 38. The third motor 39 drives the third synchronous belt 38 to move, causing the second mounting plate 36 to reciprocate to the docking position. During docking, the second lifting cylinder 40 lifts the support plate 41 to the receiving height, and the vacuum platform 34 releases the vacuum, allowing the glass sheet to fall onto the support plate 41. Subsequently, the support plate 41 descends to the conveying height, and the second mounting plate 36 moves to convey the glass sheet to the unloading station.

[0069] 5. One-time material feeding and wiping connection line 1) Feeding mechanism 10 The unloading mechanism 10 includes a third linear module 44, a fourth Z-axis assembly 43, and a third adsorption assembly 42. The third adsorption assembly 42 is a multi-suction cup array structure used to pick up multiple glass sheets from the tray 41 at one time; the fourth Z-axis assembly 43 drives the third adsorption assembly 42 to move up and down; the third linear module 44 drives the fourth Z-axis assembly 43 and the third adsorption assembly 42 to move horizontally above the wiping connection line.

[0070] At the unloading station, the third adsorption component 42 moves down to adsorb the glass sheet. After vacuum detection confirms successful adsorption, it is lifted and moved horizontally to the placement area of ​​the wiping connection line. Then it moves down and releases the vacuum, placing multiple glass sheets simultaneously onto the wiping connection line to achieve stable alignment and batch import.

[0071] 6. Control and Interlocks (Feasible Process Flow) The control system is electrically connected to each servo motor, cylinder solenoid valve, position sensing component, and vacuum detection component, and executes the following interlock logic according to the preset process flow: Disk supply interlock: Disk splitting mechanism 4 is allowed to release the bottommost tray only when the stacking mechanism 3 cache height is sufficient and the tray retrieval station is idle; Plate picking interlock: The gripper mechanism 22 is allowed to move down to pick up the plate only when the plate separating mechanism 4 is in position and the baking plate is positioned. Vacuum interlock: The material handling variable distance mechanism 7 and the flipping variable distance mechanism 8 are prohibited from lifting / flipping when the adsorption threshold is not reached, and secondary bonding or alarm is triggered. Anti-collision interlock: Before the vacuum platform 34 is flipped, check whether the discharge mechanism 9 is in a safe position and whether the pallet 41 has been lowered into place; before the unloading mechanism 10 is moved, check whether the wiping connection line inlet is allowed to receive material.

[0072] When abnormalities such as leakage, incomplete filling, or timeout occur, the control system will implement a retreat, retry, or shutdown alarm strategy, and display the alarm in the visual window for easy observation and handling by maintenance personnel.

[0073] Through the coordination of the above structure and actions, this embodiment can realize: variable-pitch conveying of baking trays, stacking buffering, single tray separation, tray picking and transfer and stacking recycling; as well as multi-piece glass sheet picking, variable-pitch handling, flipping and variable-pitch conveying, receiving and conveying and one-time unloading and wiping connection line operation, to meet the production requirements of high cycle time, low damage and low manual intervention.

[0074] Example 2 Based on the automatic material transfer and wiping line equipment after AS baking described in Example 1, this example further provides a specific implementation method with a major creative control strategy: In addition to completing the sequential control of each mechanism, the control system also executes multi-mechanism pitch closed-loop collaborative control and abnormal self-recovery process, thereby stabilizing the cycle time and pitch and reducing downtime caused by leakage and jamming without interrupting the connection.

[0075] 1. System hardware configuration (supplement to Example 1) 1) Arrangement of position sensing components An encoder / photoelectric sensor is installed at the end of the conveyor belt 12 of the baking tray feeding pitch mechanism 2 to record the arrival time t_in(i) and position p_in(i) of the leading edge of the baking tray; Limit switches / magnetic switches / encoders are respectively installed on the second linear module 25 and the third Z-axis module 26 of the material picking pitch mechanism 7 to record the picking height, picking lateral position and arrival time t_pick. Displacement sensors / rotary encoders are installed at the axial displacement end of the vacuum platform 34 and the angular end of the flipping shaft 32 of the flipping torque mechanism 8 to record the axial position p_flip, the angle θ_flip, and the arrival time t_flip; A linear displacement detector is set on the second mounting plate 36 of the discharge mechanism 9 to record the docking position p_out and the arrival time t_out of the pallet 41. Position detection is set on the third linear module 44 and the fourth Z-axis assembly 43 of the unloading mechanism 10 for unloading interlock.

[0076] 2) Implementation of the vacuum detection component Negative pressure sensors (or vacuum switches) are installed on the vacuum circuits of the first adsorption component 28, the second adsorption component 29, and the vacuum platform 34 to collect the negative pressure curve P(t). The sampling period is, for example, 5–20 ms to meet the cycle time requirement.

[0077] 3) Calculation and execution unit of the control system The PLC or industrial PC is used as the main controller and has the ability to record timestamps, linear interpolation or speed curve output. The servo / stepper driver drives the transmission servo motor 11, the second linear module 25, the displacement motor 33, the third motor 39, and other actuators respectively; The control system has a built-in "pitch error speed compensation" calculation module and an "anomaly detection and self-recovery" strategy module.

[0078] 2. Pitch closed-loop coordinated control This embodiment transforms "pitch control" from a single mechanism to a cross-mechanism collaborative closed loop, as detailed below: 1) Online calculation and compensation of baking pan pitch The control system calculates the real-time baking tray pitch based on the arrival times t_in(i) and t_in(i+1) of the leading edges of two adjacent baking trays recorded by the sensors at the feed end. The estimated pitch D_pan(i) = V_belt × (t_in(i+1) - t_in(i)), where V_belt is the current speed of the conveyor belt line 12; or it can be calculated directly from the position p_in difference.

[0079] Compare D_pan(i) with the preset pitch D_pan,set to obtain the pitch error ΔD_pan.

[0080] The control system generates a speed compensation amount ΔV_pan, outputs a new speed curve to the drive servo motor 11, so that the subsequent plates gradually converge to D_pan,set, avoiding sudden acceleration and deceleration that could cause the baking tray to slip.

[0081] 2) Online calculation and compensation of glass slide pitch After the material picking and pitch changing mechanism 7 picks up the glass sheet, the control system reads the current position p_pick of the second linear module 25 and the stroke L_adj of the pitch adjusting cylinder 30 (or its position switch) to calculate the current pitch D_glass of the glass sheet. Compare D_glass with the target pitch D_glass,set to obtain ΔD_glass; The control system fine-tunes the timing of the actions of the second linear module 25 and the pitch cylinder 30 based on ΔD_glass, and compensates the axial displacement output of the displacement motor 33 so that the vacuum platform 34 finally reaches the target pitch at the docking position.

[0082] 3) Synchronous "Arrival Window" Across Workstations The control system records the arrival times of t_pick, t_flip, and t_out in each cycle, and calculates the arrival deviation Δt of the flip station and the receiving station. When Δt exceeds the allowable window (e.g., ±80ms or set according to the production line cycle time), the control system, under acceleration / deceleration constraints, simultaneously outputs synchronous speed commands to the second linear module 25, displacement motor 33, and third motor 39 to ensure: The glass slide reaches the access window of the vacuum platform 34, which is consistent with the available window of the vacuum platform 34; The window of the vacuum platform 34 when it reaches the docking position is consistent with the window of the pallet 41 when it is lifted into place; The pallet 41 reaches the unloading station window, which coincides with the idle window of the unloading mechanism 10.

[0083] Through the above synchronization, the connection rhythm is stabilized, and the workstations do not "catch up" or "wait idly".

[0084] 3. Vacuum reliability assessment (negative pressure establishment time + holding slope) and assessment rules To avoid "missed suction / dislodged / displaced wafers / material feeding deviation", this embodiment introduces quantifiable judgment into vacuum adsorption: 1) Negative pressure build-up time T_build Starting from the moment t0 when the vacuum valve is opened, detect the time t1 at which the negative pressure P(t) first reaches the threshold P_th (e.g., ≤-60kPa); T_build = t1 - t0; if T_build > T_th (e.g., 0.25s), it is judged as "abnormal adsorption buildup".

[0085] 2) Negative pressure maintains slope K_leak Calculate the rate of change of negative pressure K_leak=ΔP / Δt within the holding window [t1,t1+T_hold]; If K_leak exceeds the threshold (e.g., >5kPa / s, negative pressure rises rapidly), it is determined that "leakage or poor adsorption" occurs.

[0086] 3) Multi-point consistency The first adsorption component 28 and the second adsorption component 29 at least satisfy the combined logic of "both reaching the threshold" or "the main adsorption reaches the threshold and the auxiliary adsorption is not lower than the secondary threshold"; When connecting the vacuum platform 34, the negative pressure of the platform must reach the threshold; otherwise, it is prohibited to rotate it.

[0087] 4. Abnormal self-recovery control, specific actions to ensure uninterrupted connection. When adsorption is unreliable or the adsorption position is incorrect, this embodiment automatically recovers according to the following procedure: 1) Suspend downstream interlocking If the adsorption at the material intake end is abnormal: pause the flipping action of the tilting mechanism 8 and the lifting docking of the discharge mechanism 9; if the flipping pipe is abnormal: pause the lifting of the discharge mechanism 9 and prohibit the unloading mechanism 10 from entering the unloading position. If the material is not properly received: pause the operation of the feeding mechanism 10 and keep the pallet 41 at a safe height.

[0088] 2) Z-axis retraction and secondary bonding for re-absorption The control system drives the third Z-axis module 26 or the vacuum platform 34 to rise and retract (e.g., 10-30mm), and then descend to the secondary bonding height; at the same time, "secondary bonding and re-suction" is performed: the vacuum is turned on again and T_build and K_leak are recalculated; if it still fails, a third attempt is made and the action speed is reduced (e.g., reduced by 30%) to improve the bonding success rate.

[0089] 3) Takt time resetting based on update arrival time Each re-suction / re-docking causes a shift in the arrival time. The control system updates t_pick, t_flip, and t_out, recalculates Δt and pitch error ΔD, outputs a new speed compensation amount ΔV, and re-plans the speed curves of the second linear module 25, displacement motor 33, and third motor 39 so that subsequent workstations can be re-aligned with the arrival window.

[0090] 4) Fault degradation and alarm strategies If adsorption fails for N consecutive times (e.g., 3 times), the equipment enters a degraded mode: the batch of glass sheets is returned to the safe temporary storage position or the baking tray is sent to the manual processing position, while the event is recorded and an alarm is triggered to maintain the suction cup / vacuum circuit.

[0091] 5. Overall effect of Example 2 Through the pitch closed-loop collaborative control, vacuum reliability quantitative judgment and anomaly self-recovery of this embodiment, the equipment can maintain stable pitch and cycle time when connected at high speed: even with fluctuations in the baking tray cycle time, deviations in the glass plate position or slight vacuum leakage; and significantly reduce downtime caused by missed suction, glass drop, and flipping failure. By using the "pause, yield, reabsorption, and re-regulation" method, the line can achieve self-recovery without interruption, thereby improving the overall line uptime and yield.

[0092] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made under the inventive concept of the present invention using the contents of the present invention specification and drawings, or direct / indirect applications in other related technical fields, are included within the protection scope of the present invention.

Claims

1. An automatic material transfer and wiping line device after AS baking, characterized in that, Includes a frame, and components arranged sequentially along the material flow direction on the frame: The baking tray feeding pitch adjustment mechanism is used to convey the baking tray carrying the glass sheet along the material flow direction and adjust the distance between adjacent baking trays in the material flow direction from the first pitch to the preset pitch. A stacking mechanism is used to vertically stack and buffer the baking trays conveyed by the baking tray feeding pitch mechanism; The tray separating mechanism is used to separate a single baking tray from the stacked baking trays of the stacking mechanism and transfer the single baking tray to the tray retrieval station; A baking tray picking mechanism is used to pick up the single baking tray at the tray picking station and transfer the single baking tray to the tray unloading station; A baking tray dispensing mechanism is used to stack and recycle the individual baking trays at the dispensing station; The material handling pitch adjustment mechanism is used to pick up multiple glass sheets from a baking tray located at the material handling station, and to adjust the pitch of the glass sheets in the material flow direction during the picking and conveying process; The tilting and pitch-changing mechanism is used to adsorb the glass sheet transferred by the material handling and pitch-changing mechanism, drive the glass sheet to tilt around the tilting axis, and readjust the pitch of the glass sheet before and after tilting. The unloading mechanism is used to receive the flipped glass sheet and transfer the glass sheet to the unloading station; The unloading mechanism is used to pick up multiple glass sheets from the unloading station at one time and place the glass sheets onto the wiping connection line; The system is electrically connected to the drive components, position sensing components and vacuum detection components of the above-mentioned mechanisms. The system is used to coordinate the actions of the above-mentioned mechanisms according to the preset process flow to realize the automatic stacking, separation, removal and unloading of baking trays, as well as the variable-distance handling, flipping and introduction of glass sheets into the wiping connection line.

2. The device according to claim 1, characterized in that, The baking tray feeding variable pitch mechanism includes a drive servo motor, a conveyor belt, and an adjustable guide assembly. The adjustable guide assembly includes a first guide and a second guide located on both sides of the conveyor belt, the distance between the first guide and the second guide being adjustable, for guiding and limiting the baking tray; The control system adjusts the rotational speed of the drive servo motor to change the conveying speed of the conveyor belt, thereby adjusting the spacing between adjacent baking trays from the first pitch to the preset pitch. The conveyor belt is a high-temperature resistant, wear-resistant, and anti-deviation conveyor belt, and the baking tray feeding pitch adjustment mechanism is equipped with a maintenance viewing window, which includes a magnetic locking structure and a hidden handle.

3. The device according to claim 1, characterized in that, The stacking mechanism includes a guide assembly, a lifting assembly, and a side fixing component; The guiding component is configured to guide and limit at least two sides of the stacked baking trays; The lifting component is located below the stacking station and can move up and down to lift and position the stacked baking trays during the stacking process, and to release the bottom baking tray during the tray separation process. The side fixing members are located on both sides of the stacked baking trays and are used to limit the lateral displacement of the stacked baking trays so that the bottom baking tray can be received and moved out by the tray-separating mechanism.

4. The device according to claim 1, characterized in that, The tray-splitting mechanism includes a tray-splitting conveyor belt, a rubber-coated pallet, a lifting cylinder, and a side-push assembly. One end of the tray conveyor belt is located below the stacking mechanism to receive the bottom baking tray released by the stacking mechanism. The rubber-coated pallet is disposed on the upper surface of the tray conveyor belt and moves with the tray conveyor belt, and is used to flexibly support and prevent slippage of the baking tray. The lifting cylinder is located below the tray conveyor belt and is used to drive the rubber-coated pallet and the tray conveyor belt to rise and fall in the vertical direction, so as to receive and detach the bottom baking tray. The side-pushing components are located on both sides of the tray conveyor belt and are used to laterally correct a single baking tray and guide it into the tray-retrieving station.

5. The device according to claim 1, characterized in that, The baking tray picking mechanism includes a first Z-axis cylinder, a first linear module, and a gripper mechanism. The first linear module is used to drive the first Z-axis cylinder to move linearly in the horizontal direction, and the first Z-axis cylinder is used to drive the gripper mechanism to move up and down in the vertical direction. The gripper mechanism is a hook-type gripping structure, configured to grip and lift the baking tray from the side edge or reinforcing edge of the baking tray, so as to transfer the baking tray from the tray retrieval station to the tray unloading station.

6. The device according to claim 1, characterized in that, The baking tray dispensing mechanism includes a second Z-axis module and a side baffle; The lateral baffle is used to laterally limit the baking tray during the stacking and recycling process; The second Z-axis module is located below the side baffle and is used to drive the support component to move up and down, so that the baking tray can be placed layer by layer from top to bottom and stacked for recycling.

7. The device according to claim 1, characterized in that, The material handling variable pitch mechanism includes two sets of independent handling robots; Each handling robot includes a second linear module, a third Z-axis module, a first mounting plate, a first adsorption assembly, a second adsorption assembly, and an adjustable cylinder. The first mounting plate is mounted on the third Z-axis module, and the third Z-axis module is mounted on the second linear module; The first adsorption component is installed at the output end of the adjustable cylinder, and the second adsorption component is fixed on the first mounting plate; The adjustable cylinder is used to adjust the relative distance between the first adsorption component and the second adsorption component to adjust the glass sheet pitch; the first adsorption component and the second adsorption component are used for vacuum adsorption of the glass sheet.

8. The device according to claim 1, characterized in that, The tilting and shifting mechanism includes a tilting motor, a tilting shaft, a displacement motor, a vacuum platform, and a displacement synchronous belt; The rotating shaft is connected to the output end of the rotating motor to rotate around the axis under the drive of the rotating motor; The vacuum platform is configured to slide along the axial direction of the flipping axis, and the vacuum platform is used for vacuum adsorption of glass sheets; The displacement timing belt is fixedly connected to the vacuum platform, and the displacement motor is used to drive the displacement timing belt to move, thereby driving the vacuum platform to move axially, so as to realize the adjustment of the position / pitch of the glass plate before and after flipping.

9. The device according to claim 1, characterized in that, The discharge mechanism includes a second mounting plate, a slide rail, a third synchronous belt, a third motor, and a second lifting cylinder; The two ends of the second mounting plate are respectively slidably engaged with the slide rail, and the second mounting plate is fixedly connected to the third synchronous belt; The third motor is used to drive the third synchronous belt to move, so as to drive the second mounting plate to reciprocate along the slide rail; The second lifting cylinder is mounted on the second mounting plate, and a support plate is provided at the output end of the second lifting cylinder. The support plate is used to receive and place the glass sheet.

10. The device according to claim 9, characterized in that, The feeding mechanism includes a third adsorption component, a fourth Z-axis component, and a third linear module; The third adsorption component is used to pick up multiple glass sheets from the tray at one time. The third adsorption component is mounted on the fourth Z-axis component, and the fourth Z-axis component is used to drive the third adsorption component to move up and down in the vertical direction; The fourth Z-axis assembly is mounted on the third linear module, which drives the fourth Z-axis assembly to move linearly in the horizontal direction to place the glass sheet onto the wiping connection line.

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