Glass substrate packaging and slitting transformation device compatible with robot

Abstract

The invention provides a robot-compatible glass substrate packaging, slitting and transforming device which comprises a conveying unit, a receiving unit is arranged on one side of the conveying unit, a first placing assembly and a second placing assembly are arranged on the same side of the receiving unit and the conveying unit respectively, the first placing assembly is used for stacking glass substrates, and the second placing assembly is used for stacking the glass substrates; the second placing assembly is used for stacking glass paper, a plate moving robot is arranged on one side of the first placing assembly, and the plate moving robot is used for extracting the glass substrates on the receiving unit and stacking the glass substrates on the first placing assembly; a paper feeding robot is arranged on one side of the second placing assembly, and the paper feeding robot is used for laying glass paper on the second placing assembly on the glass substrate of the first placing assembly. The receiving plate of the receiving unit can achieve real-time synchronous lifting through cooperation of the driving assembly and the sliding sleeve rod, the top glass substrate is always kept at the preset height, the transposition assembly can drive the paper clamping assembly to achieve lifting and overturning, and it is ensured that the laying direction of glass paper is matched with the glass substrate.

Description

Technical Field

[0001] This invention relates to the field of glass substrate processing technology, and more specifically to a robot-compatible glass substrate receiving, packaging, and cutting modification device. Background Technology

[0002] In the field of LCD glass substrate production, maintaining a balanced inventory of different product specifications is crucial for ensuring customer supply. Currently, there is a shortage of G7.50.4T glass substrates, while there is a certain amount of scrap G8.5 boards. To meet resource utilization and replenishment needs, the scrap G8.5 boards need to be slit into G6 specifications. In the existing production line, the 2-H line has slitting capabilities, but its grinding machine can only process G5 products. To adapt it to G6 products, approximately three weeks of process adjustments and equipment modifications are required. Furthermore, frequent switching between different product specifications will severely impact processing quality, leading to a decrease in product yield. At the same time, the glass substrates on the 2-H line are transported via a DC conveyor belt using a CV2 brush conveyor, lacking corresponding automated packaging equipment. Traditional manual packaging methods are inefficient and easily cause scratches and contamination on the glass substrate surface, further affecting product quality.

[0003] Therefore, there is an urgent need for a technical solution that can automate the packaging of glass substrates after slitting, in order to solve the problems of low production efficiency and large quality fluctuations caused by product switching, and to meet the production needs of rapid replenishment. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a robot-compatible glass substrate receiving, packaging, and cutting modification device, which solves the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A robot-compatible glass substrate receiving, packaging, and cutting modification device includes: a conveying unit, a receiving unit on one side of the conveying unit, and placement components one and two on the same side of the receiving unit and the conveying unit, respectively. Placement component one is used to stack glass substrates, and placement component two is used to stack cellophane. A transfer robot is mounted on one side of placement component one to pick up the glass substrates from the receiving unit and stack them on placement component one; a paper-feeding robot is mounted on one side of placement component two to lay the cellophane from placement component two onto the glass substrates of placement component one; the conveying unit includes a conveying frame and a lifting and placing component. The conveying frame is located behind placement components one and two, and the lifting and placing component is fixedly installed on the top of the output end of the conveying frame, close to placement component two. The lifting and placing component is used to lift and place the glass substrate conveyed by the conveying structure onto the placement component two. The receiving unit includes a receiving plate, a liner plate, and a base plate. A base plate is provided on one side of the conveying structure. Sliding sleeve rods are arranged in an array at the four corners of the top of the base plate. A liner plate is fixedly installed between the sliding sleeve rods. A receiving plate is fixedly installed on the top of the sliding sleeve rods. A drive component is fixedly installed in the middle of the top surface of the base plate. The drive component is fixedly installed through the liner plate and connected to the top of the receiving plate. The drive component is used to start the synchronous lifting and lowering of the receiving plate and the liner plate. The paper feeding robot includes a second mounting platform, a shifting component, and a paper clamping component. The second mounting platform is provided between the first placement component and the second placement component. A shifting component is mounted on the front of the second mounting platform. A paper clamping component is mounted on the shifting component. The shifting component is used to drive the paper clamping component to lift, lower, and flip. The paper clamping component is used to clamp the glass paper stack.

[0007] Furthermore, the conveying structure includes a conveyor belt and a conveyor frame. The conveyor frame is placed on the corresponding side of the receiving unit. The conveyor frame is equipped with a conveyor belt for conveying glass substrates. The lifting and placing assembly is assembled at the end near the receiving unit.

[0008] Furthermore, the lifting and placing assembly includes a telescopic cylinder, a lifting plate, and a support frame. The support frame is fixedly installed on the top of the conveyor belt near the receiving unit. The telescopic cylinder is fixedly installed on the top of the support frame. The lifting plate is fixedly installed on the output end of the telescopic cylinder. A right-angle plate is fixedly installed on the bottom of the lifting plate. A baffle is fixedly installed on the bottom of the right-angle plate near the receiving unit. A telescopic cylinder is fixedly installed on the top of the right-angle plate. The output end of the telescopic cylinder passes through the right-angle plate and is fixedly installed with a suction cup component. The baffle is used to block the glass substrate on the conveyor belt.

[0009] Furthermore, the receiving unit also includes an infrared sensor. A mounting groove is provided on the side of the receiving plate away from the conveyor frame. An infrared sensor is fixedly installed inside the mounting groove. The infrared sensor is used to sense the baffle.

[0010] The drive assembly includes a threaded sleeve, a threaded rod, a reducer, and a motor. The reducer is fixedly installed in the middle of the top surface of the base plate. The output end of the reducer is fixedly connected to the threaded rod, and the input end of the reducer is equipped with a motor. The threaded sleeve is threaded onto the threaded rod, and the threaded sleeve passes through the liner and is installed and connected to the bottom of the receiving plate.

[0011] Furthermore, the pallet-moving robot includes an installation platform, an active robotic arm, and a suction cup component. The installation platform is located on one side of the placement component, and the active robotic arm is fixedly installed on the top of the installation platform. The suction cup component is fixedly installed at the output end of the active robotic arm. The placement component includes a constraint frame, a tray, and a scissor lift frame. The constraint frame is located on one side of the installation platform, and the scissor lift frame is fixedly installed at the bottom of the constraint frame. The tray is fixedly installed on the top of the scissor lift frame, and the four sides of the tray are constrained by the constraint frame.

[0012] Furthermore, the second placement component includes a first constraint frame, a tray, and a second scissor lift frame. The first constraint frame is provided on one side of the paper feeding robot. The second scissor lift frame is fixedly installed at the bottom of the first constraint frame. A liftable tray is fixedly installed on the top of the second scissor lift frame, and a clamping clearance groove is provided on one side of the top of the tray.

[0013] Furthermore, the paper feeding robot includes an active robotic arm II and a walking component. The walking component is fixedly installed at the bottom of the mounting platform II, and the active robotic arm II is fixedly installed at the top of the mounting platform II. An installation plate is fixedly installed at the output end of the active robotic arm II, and four sets of flexible grippers are assembled on the installation plate.

[0014] Furthermore, the switching assembly includes a mounting shell, a drive screw, and a mounting base. The mounting shell is fixedly mounted on the front of the mounting machine platform. The drive screw extending into the front of the mounting shell is fitted on the front of the mounting shell. The drive screw threaded through the mounting base is rotatably mounted inside the mounting shell. A rotary cylinder is fixedly mounted on the front of the mounting base. A rotatable side plate is fixedly mounted on the rotary cylinder. A telescopic cylinder is fixedly mounted on one side of the side plate. A traveling wheel is connected to the output end of the telescopic cylinder. A telescopic cylinder is fixedly mounted on the side of the side plate. A paper clamping assembly is fixedly mounted on the output end of the telescopic cylinder through the side plate.

[0015] Furthermore, the paper clamping assembly includes a second mounting shell, the output end of the telescopic cylinder four is fixedly mounted with the second mounting shell, an active gear is rotatably mounted inside the second mounting shell, guide blocks extending into the interior are slidably mounted on the bottom and top of both sides of the second mounting shell, toothed plates that mesh with the active gear are fixedly mounted on the inner side of the guide blocks, the toothed plates move in opposite directions, and clamping plates are fixedly mounted on the outer side of the guide blocks.

[0016] This invention provides a robot-compatible glass substrate receiving, packaging, and cutting modification device. Compared with the prior art, it has the following advantages:

[0017] 1. The lifting and placing component intercepts the glass substrate with a baffle and then uses suction cup component one for flexible adsorption and extraction, avoiding collisions and damage to the glass substrate and ensuring a smooth extraction process. The receiving plate of the receiving unit can achieve real-time synchronous lifting and lowering through the cooperation of the drive component and the sliding sleeve rod, always keeping the top glass substrate at the preset height, preventing the glass substrate from being stacked too high and causing it to tip over or be damaged by pressure. The dual support design of the receiving plate and the liner plate ensures that the glass substrate is evenly stressed after placement, further protecting the glass substrate. The timing of the lifting and placing component's baffle lifting and lowering is controlled by an infrared sensor linked to the glass substrate's transport position, ensuring that the glass substrate stays at the preset extraction position. The adsorption and positioning of suction cup components one and two, and the movements of the transfer robot and the paper loading robot are achieved through the cooperation of the robotic arm and the transfer component, ensuring accurate positioning of the glass substrate transfer and glass paper laying.

[0018] 2. The paper clamping component of the paper feeding robot uses active gears and toothed plates to drive the relative movement of the clamping plates, and the clamping force is controllable. The tray of component two is equipped with clamping plate avoidance grooves to adapt to the clamping action of the paper clamping component and avoid damage to the paper stack or cellophane during the clamping process. The shifting component can drive the paper clamping component to lift, turn and flip, ensuring that the cellophane laying direction matches the glass substrate, further improving the operation accuracy and ensuring the stacking quality. Attached Figure Description

[0019] 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, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A schematic diagram of the overall structure of the present invention is shown;

[0021] Figure 2 A schematic diagram of the conveying unit structure of the present invention is shown;

[0022] Figure 3 A schematic diagram of the lifting and releasing component structure of the present invention is shown;

[0023] Figure 4 A schematic diagram of the receiving unit structure of the present invention is shown;

[0024] Figure 5 A schematic diagram of the structure of the plate-moving robot of the present invention is shown;

[0025] Figure 6 A schematic diagram of the paper-feeding robot structure of the present invention is shown;

[0026] Figure 7A schematic diagram of the placement component of the present invention is shown;

[0027] Figure 8 A schematic diagram of the second placement component of the present invention is shown;

[0028] Figure 9 A schematic diagram of the transposition component structure of the present invention is shown;

[0029] Figure 10 A schematic diagram of the paper clamping assembly structure of the present invention is shown;

[0030] As shown in the diagram: 100, conveying unit;

[0031] 110. Conveying structure; 111. Conveyor belt; 112. Conveying frame;

[0032] 120. Lifting and lowering assembly; 121. Telescopic cylinder one; 122. Lifting plate; 123. Support frame; 124. Right-angle plate; 125. Suction cup component one; 126. Telescopic cylinder two; 127. Baffle;

[0033] 200. Receiving unit; 201. Receiving plate; 202. Mounting slot; 203. Infrared sensor; 204. Liner plate; 205. Sliding sleeve rod; 206. Base plate;

[0034] 210. Drive assembly; 211. Threaded sleeve; 212. Threaded rod; 213. Reducer; 214. Motor;

[0035] 300. Transfer robot; 301. Installation platform one; 302. Active robotic arm one; 303. Suction cup component two;

[0036] 400. Placement component one; 401. Constraint frame one; 402. Pallet; 403. Scissor lift frame one;

[0037] 500. Paper feeding robot; 501. Mounting platform two; 502. Active robotic arm two; 503. Walking components; 504. Mounting plate; 505. Flexible gripper;

[0038] 510. Positioning assembly; 511. Mounting housing one; 512. Drive screw; 513. Mounting base; 514. Rotary cylinder; 515. Side plate; 516. Telescopic cylinder three; 517. Traveling wheel; 518. Telescopic cylinder four;

[0039] 520. Paper clamping assembly; 521. Mounting housing 2; 523. Guide block; 524. Drive gear; 525. Toothed plate; 526. Clamping plate;

[0040] 600. Placement component two; 601. Constraint frame one; 602. Pallet; 603. Scissor lift frame two; 604. Clamping plate clearance groove. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] Combination Figures 1-10 As shown, this invention provides a robot-compatible glass substrate receiving, packaging, cutting, and modification device, comprising a conveying unit 100. A receiving unit 200 is disposed on one side of the conveying unit 100. On the same side as the conveying unit 100, a placement component 400 and a placement component 600 are respectively disposed. The placement component 400 is used to stack glass substrates, and the placement component 600 is used to stack cellophane. A transfer robot 300 is disposed on one side of the placement component 400, and the transfer robot 300 is used to extract glass substrates from the receiving unit 200 and stack them. The glass paper is placed on the placement component 400; a paper-feeding robot 500 is mounted on one side of the placement component 600, and the paper-feeding robot 500 is used to place the glass paper on the glass substrate of the placement component 400; the conveying unit 100 includes a conveying structure 110 and a lifting and placing component 120. The conveying structure 110 is provided on the rear side of the placement component 400 and the placement component 600, and the lifting and placing component 120 is fixedly installed on the top of the output end of the conveying structure 110. The lifting and placing component 120 is close to the placement component 600 and is used to... The glass substrate conveyed by the conveying structure 110 is lifted and placed onto the placement component 600. The receiving unit 200 includes a receiving plate 201, a liner plate 204, and a base plate 206. The base plate 206 is provided on one side of the conveying structure 110. Sliding sleeve rods 205 are arranged in an array at the four corners of the top of the base plate 206. The liner plate 204 is fixedly installed between the sliding sleeve rods 205. The receiving plate 201 is fixedly installed on the top of the sliding sleeve rods 205. A driving component 210 is fixedly installed in the middle of the top surface of the base plate 206. The driving component 210 is fixedly installed through the liner plate 204 and connects with the receiving plate 201. The top of the plate 201 is connected to the drive component 210, which is used to start the synchronous lifting and lowering of the receiving plate 201 and the liner plate 204. The paper feeding robot 500 includes a second mounting platform 501, a shifting component 510, and a paper clamping component 520. The second mounting platform 501 is set between the first placement component 400 and the second placement component 600. The shifting component 510 is mounted on the front of the second mounting platform 501. The paper clamping component 520 is mounted on the shifting component 510. The shifting component 510 is used to drive the paper clamping component 520 to lift, lower, and flip. The paper clamping component 520 is used to clamp the glass paper stack.

[0043] In the above scheme:

[0044] 1. The conveying unit's conveying structure uses a conveyor frame to support the conveyor belt, ensuring smooth and unbiased operation. During the conveying process, the glass substrate moves synchronously against the conveyor belt surface, effectively preventing surface scratches. The lifting and placing component intercepts the glass substrate with a baffle and uses suction cup component one for flexible adsorption and extraction, preventing collisions and damage from compression, and ensuring a smooth extraction process. The receiving plate of the receiving unit can achieve real-time synchronous lifting and lowering through the cooperation of the drive component and the sliding sleeve, always keeping the top glass substrate at the preset height, preventing the glass substrate from being over-stacked and tipping over or being damaged by pressure. The dual support design of the receiving plate and the liner plate ensures that the glass substrate is evenly stressed after placement, further protecting the glass substrate. The timing of the baffle lifting and lowering of the lifting and placing component is controlled by an infrared sensor linked to the glass substrate conveying position, ensuring that the glass substrate stays at the preset extraction position. The adsorption and positioning of suction cup components one and two, and the movements of the transfer robot and the paper loading robot are achieved through the cooperation of the robotic arm and the transposition component, ensuring accurate positioning of the glass substrate transfer and glass paper laying.

[0045] 2. The paper clamping component of the paper feeding robot uses active gears and toothed plates to drive the relative movement of the clamping plates, and the clamping force is controllable. The tray of component two is equipped with clamping plate avoidance grooves to adapt to the clamping action of the paper clamping component and avoid damage to the paper stack or cellophane during the clamping process. The shifting component can drive the paper clamping component to lift, turn and flip, ensuring that the cellophane laying direction is completely matched with the glass substrate, further improving the operation accuracy and ensuring the stacking quality.

[0046] The paper-feeding robot's range of motion covers the receiving plate and placement component one; the paper-feeding robot is installed on one side of placement component two and can move to multiple positions through its walking parts, adapting to different operational needs such as paper stack extraction and paper material laying, achieving high efficiency compatibility with the robot.

[0047] In this embodiment, the conveying structure 110 includes a conveyor belt 111 and a conveyor frame 112. The conveyor frame 112 is placed on the corresponding side of the receiving unit 200. The conveyor belt 111 for conveying glass substrates is installed inside the conveyor frame 112. The lifting and placing assembly 120 is installed at the end near the receiving unit 200.

[0048] In the above scheme, the lifting and placing component is set close to the receiving unit, which shortens the transfer distance from the glass substrate after interception and extraction to the receiving unit, reduces the probability of shaking during the transfer process, and facilitates the connection between the lifting and placing component and the receiving unit, laying a stable foundation for the subsequent glass substrate receiving operation and ensuring a smooth connection between the transportation and receiving links.

[0049] In this embodiment, the lifting and placing assembly 120 includes a telescopic cylinder 121, a lifting plate 122, and a support frame 123. The support frame 123 is fixedly installed on the top of the conveyor belt 111 near the receiving unit 200. The telescopic cylinder 121 is fixedly installed on the top of the support frame 123. The lifting plate 122 is fixedly installed at the output end of the telescopic cylinder 121. A right-angle plate 124 is fixedly installed at the bottom of the lifting plate 122. A baffle 127 is fixedly installed at the bottom of the right-angle plate 124 near the receiving unit 200. A telescopic cylinder 126 is fixedly installed on the top of the right-angle plate 124. The output end of the telescopic cylinder 126 passes through the right-angle plate 124 and is fixedly installed with a suction cup component 125. The baffle 127 is used to block the glass substrate on the conveyor belt 111.

[0050] In the above solution: the telescopic cylinder can drive the lifting plate to lift and lower, thereby adjusting the height of the baffle and suction cup component to adapt to the conveying height and extraction requirements of the glass substrate; the baffle can intercept the glass substrate on the conveyor belt; at the same time, the right-angle plate structure design can realize the integrated installation of the baffle and suction cup component, ensuring that the two work together and improving the continuity and stability of glass substrate interception and extraction.

[0051] In this embodiment, the receiving unit 200 further includes an infrared sensor 203. A mounting groove 202 is provided on the side of the receiving plate 201 away from the conveyor frame 112. The infrared sensor 203 is fixedly installed inside the mounting groove 202. The infrared sensor 203 is used to sense the baffle 127. The driving assembly 210 includes a threaded sleeve 211, a threaded rod 212, a reducer 213, and a motor 214. The reducer 213 is fixedly installed in the middle of the top surface of the base plate 206. The output end of the reducer 213 is fixedly connected to the threaded rod 212. The input end of the reducer 213 is equipped with the motor 214. The threaded sleeve 211 is threaded onto the threaded rod 212. The threaded sleeve 211 passes through the liner 204 and is installed and connected to the bottom of the receiving plate 201.

[0052] In the above scheme: the infrared sensor is installed on the side of the receiving plate away from the conveyor frame, which can sense the position signal of the baffle and realize the action linkage between the lifting and placing components and the receiving unit. This ensures that after the baffle completes the interception of the glass substrate, the receiving plate can be adjusted to the preset receiving height in time. The drive structure can realize the real-time adjustment of the height of the receiving plate, always keeping the top glass substrate of the receiving plate at the preset height. At the same time, the dual support structure of the liner and the receiving plate can further improve the load-bearing stability of the receiving plate.

[0053] In this embodiment, the pallet-shifting robot 300 includes an installation platform 301, an active robotic arm 302, and a suction cup component 303. The installation platform 301 is provided on one side of the placement component 400, and the active robotic arm 302 is fixedly installed on the top of the installation platform 301. The suction cup component 303 is fixedly installed at the output end of the active robotic arm 302. The placement component 400 includes a constraint frame 401, a tray 402, and a scissor lift frame 403. The constraint frame 401 is provided on one side of the installation platform 301, and the scissor lift frame 403 is fixedly installed at the bottom of the constraint frame 401. The tray 402 is fixedly installed on the top of the scissor lift frame 403, and the four sides of the tray 402 are constrained by the constraint frame 401.

[0054] In the above scheme: the active robotic arm can drive the suction cup component 2 to achieve multi-directional extension, rotation, and adapt to the transfer path between the receiving plate and the placement component 1. The suction cup component 2 can smoothly extract the glass substrate on the receiving plate by adsorption, avoiding the glass substrate from falling off or being damaged by collision during the transfer process; the scissor lift frame 1 can drive the pallet to achieve lifting and lowering, and the position of the pallet can be adjusted in real time according to the stacking height of the glass substrate.

[0055] In this embodiment, the second placement component 600 includes a first constraint frame 601, a tray 602, and a second scissor lift frame 603. The first constraint frame 601 is provided on one side of the paper feeding robot 500. The second scissor lift frame 603 is fixedly installed at the bottom of the first constraint frame 601. The second scissor lift frame 603 is fixedly installed at the top of the second scissor lift frame 603. A liftable tray 602 is provided on one side of the top of the tray 602. A clamping plate clearance groove 604 is provided.

[0056] In the above scheme: the scissor lift can drive the pallet to lift and lower, and the height of the pallet can be adjusted in real time according to the use of the glass paper stack, always keeping the top of the paper stack at the preset clamping height; the clamping plate clearance groove on the top of the pallet can avoid the clamping plate of the paper clamping assembly, avoid interference between the clamping plate and the pallet, and ensure that the paper clamping assembly can smoothly clamp the paper stack or single sheet of paper.

[0057] In this embodiment, the paper feeding robot 500 includes an active robotic arm 502 and a walking component 503. The walking component 503 is fixedly installed at the bottom of the mounting platform 501, and the active robotic arm 502 is fixedly installed at the top of the mounting platform 501. The output end of the active robotic arm 502 is fixedly installed with a mounting plate 504, and four sets of flexible grippers 505 are assembled on the mounting plate 504.

[0058] In the above solution: the walking component can drive the paper-feeding robot to move as a whole, enabling the paper-feeding robot to flexibly move between the external paper stack and the second placement component, realizing the autonomous extraction and transfer of the paper stack without manual assistance; the second active robotic arm can drive the mounting plate and flexible grippers to achieve multi-directional movements, adapting to paper stack extraction, transfer and paper laying; the four sets of flexible grippers can flexibly hold the cellophane, while avoiding damage to the cellophane caused by rigid gripping.

[0059] In this embodiment, the transposition assembly 510 includes a mounting housing 511, a drive screw 512, and a mounting base 513. The mounting housing 511 is fixedly mounted on the front of the mounting machine base 501. The drive screw 512 extending into the front of the mounting housing 511 is fitted. The drive screw 512 threaded through the mounting base 513 is rotatably mounted inside the mounting housing 511. A rotary cylinder 514 is fixedly mounted on the front of the mounting base 513. A rotatable side plate 515 is fixedly mounted on the rotary cylinder 514. A telescopic cylinder 516 is fixedly mounted on one side of the side plate 515. A traveling wheel 517 is connected to the output end of the telescopic cylinder 516. A telescopic cylinder 518 is fixedly mounted on the side of the side plate 515. The output end of the telescopic cylinder 518 passes through the side plate 515 and is fixedly mounted with a paper clamping assembly 520.

[0060] In the above solution: the rotation of the active screw can drive the mounting base to move up and down, adapting to different height requirements for paper stack extraction and paper material laying; the rotary cylinder can drive the side plate and paper clamping assembly to rotate, making it easy to adjust the angle of the paper clamping assembly; the telescopic cylinder four can drive the paper clamping assembly to extend and retract forward and backward, making it easy for the paper clamping assembly to move closer or further away from the paper material and glass substrate, improving the flexibility of clamping and laying; the telescopic cylinder three, in conjunction with the traveling wheels, can assist the position adjustment of the switching assembly.

[0061] In this embodiment, the paper clamping assembly 520 includes a second mounting shell 521. The output end of the telescopic cylinder 518 is fixedly mounted on the second mounting shell 521. An active gear 524 is rotatably mounted inside the second mounting shell 521. Guide blocks 523 extending into the interior are slidably mounted on the bottom and top of both sides of the second mounting shell 521. A toothed plate 525 that meshes with the active gear 524 is fixedly mounted on the inner side of the guide block 523. The toothed plates 525 move in opposite directions. A clamping plate 526 is fixedly mounted on the outer side of the guide block 523.

[0062] In the above scheme: the rotation of the drive gear can drive the meshing toothed plates on both sides to achieve relative movement, thereby driving the guide block and the outer clamping plate to open and close synchronously, realizing the clamping and releasing of the cellophane; the guide block can guide the movement of the toothed plates and clamping plates; the clamping plate can fit and clamp the top and bottom surfaces of the cellophane stock, and the clamping range can be flexibly adjusted according to the size of the cellophane.

[0063] Working principle and usage process of this invention:

[0064] S1. The conveyor frame 112 in the conveyor structure 110 supports the conveyor belt 111. The conveyor belt 111 runs smoothly at a preset speed, and uniformly conveys the cut glass substrate to the end of the receiving unit 200 on the corresponding side. During the conveying process, it is ensured that the surface of the glass substrate is free of scratches and displacement, and moves synchronously with the surface of the conveyor belt 111.

[0065] When the glass substrate is transported to a position close to the receiving unit 200, the lifting and placing assembly 120 starts to operate: the telescopic cylinder 121 is activated, which drives the lifting plate 122 to extend and retract downward, so that the baffle 127 at the bottom of the right angle plate 124 is lowered to a position that is in contact with the surface of the conveyor belt 111, thereby intercepting the glass substrate being transported and ensuring that the glass substrate is accurately stopped at the preset extraction position.

[0066] After the glass substrate is intercepted, the second telescopic cylinder 126 is activated, pushing the first suction cup component 125 downwards until it is tightly attached to the surface of the glass substrate. The suction cup component 125 then generates suction force, firmly adhering to the glass substrate, completing the preparation for its extraction. After the first suction cup component 125 adsorbs the glass substrate, the second telescopic cylinder 126 reverses its direction, lifting the glass substrate upwards. Simultaneously, the first telescopic cylinder 121 extends and retracts in the opposite direction, moving the lifting plate 122 and the adsorbed glass substrate upwards to avoid the baffle 127 and the conveyor belt 111. The lifting plate 122 then moves slightly, transferring the glass substrate above the receiving plate 201 of the receiving unit 200. The infrared sensor 203 on the side of the receiving plate 201 away from the conveyor frame 112 detects the baffle 127. After the signal is intercepted, it is transmitted to the drive assembly 210. The motor 214 in the drive assembly 210 starts and drives the threaded rod 212 to rotate after being reduced in speed by the reducer 213. The threaded rod 212 drives the threaded sleeve rod 211 to extend and retract upward, causing the receiving plate 201 and the liner 204 to rise synchronously along the sliding sleeve rod 205. The receiving plate 201 is adjusted to the preset receiving height to ensure that the glass substrate is evenly stressed after being placed. After the receiving plate 201 is adjusted to the position, the suction cup component 125 stops generating suction force, and the glass substrate is placed stably on the receiving plate 201. Then, the telescopic cylinder 126 and the telescopic cylinder 121 move in reverse order, causing the suction cup component 125 and the baffle 127 to return to the initial position, waiting for the next glass substrate to be transported and intercepted, thus completing the receiving operation of a single glass substrate.

[0067] S2. The paper feeding robot 500 starts synchronously, beginning the extraction and laying of cellophane. First, it completes the extraction and placement of the paper stack: the walking component 503 at the bottom of the mounting platform 2 501 of the paper feeding robot 500 starts, moving the entire robot 500 to the external paper stack and adjusting its position so that the paper clamping assembly 520 is aligned with the center of the paper stack; the shifting assembly 510 starts, the drive screw 512 rotates, driving the mounting base 513 downwards, while the rotating cylinder 514 adjusts the side... The angle of plate 515 is adjusted so that the paper clamping assembly 520 is perpendicular to the paper stack surface. Telescopic cylinder 518 is activated, pushing the paper clamping assembly 520 towards the paper stack until the clamping plate 526 is in contact with both sides of the paper stack. The drive gear 524 inside the paper clamping assembly 520 is activated, driving the toothed plates 525 on both sides to move relative to each other. The toothed plates 525 drive the guide block 523 and the outer clamping plate 526 to move synchronously, clamping the paper stack and ensuring a secure grip. After clamping, telescopic cylinder 518 reverses its direction, moving... The paper stack is lifted upwards, and the rotating cylinder 514 adjusts its angle to keep the paper stack horizontal. Then, the traveling component 503 starts, driving the paper loading robot 500 to reset directly above the placement component 2 600. The pallet 602 of the placement component 2 600 is in its initial low position, and the clamping clearance groove 604 on the top of the pallet 602 aligns with the clamping plate 526 of the paper clamping component 520. The shifting component 510 adjusts the height to place the paper stack smoothly on the pallet 602. The paper clamping component 520 releases its clamp and then extends and retracts. Cylinder 4 518 and drive screw 512 move in sequence, driving paper clamping assembly 520 to reset and completing the transfer of paper stack to placement assembly 2 600; at the same time, scissor lifting frame 2 603 of placement assembly 2 600 adjusts in real time, slowly extending and retracting upward as paper stack is continuously picked up, ensuring that the top of paper stack is always at the preset clamping height, which is convenient for subsequent individual clamping; after the paper stack is placed, walking component 503 starts again, driving paper loading robot 500 to reset to the paper loading station, ready to lay glassine paper one sheet at a time;

[0068] S3. When the preset number of glass substrates are placed on the receiving plate 201, the transfer robot 300 starts. The installation platform 301 provides support for the active robotic arm 302. The active robotic arm 302 extends, retracts, and rotates flexibly, driving the suction cup component 303 at its end to move above the receiving plate 201 and align with the preset suction position of the glass substrate. The suction cup component 303 moves downward and fits tightly against the surface of the glass substrate, activating the suction function. After ensuring that the glass substrate is firmly adsorbed, the active robotic arm 302 reverses its movement, lifting the glass substrate upward, then rotating, extending, and retracting, transferring it to directly above the placement component 400. At this time, the shears in the placement component 400... The lifting frame 403 is in its initial low position, the surface of the pallet 402 is flat, the active robotic arm 302 adjusts its height and places the glass substrate smoothly on the pallet 402, the suction cup component 303 stops adsorption and returns to its initial standby position, completing the transfer of a single glass substrate to the placement component 400; as the glass substrates are continuously stacked, the scissor-type lifting frame 403 of the placement component 400 adjusts in real time and slowly extends and retracts downward, driving the pallet 402 to descend synchronously, ensuring that the top of each transferred glass substrate is always at the preset height after placement, while the constraint frame 401 constrains the four sides of the pallet 402 to prevent the glass substrates from shifting or tipping over during stacking.

[0069] When the glass substrate is transferred to the placement component 400, the active robotic arm 502 is activated, moving the paper clamping component 520 and the single sheet of glass paper above the glass substrate in the placement component 400. The height is adjusted so that the glass paper is parallel to the surface of the glass substrate, and then it is slowly lowered to lay the glass paper smoothly on the glass substrate, ensuring that the glass paper fully covers the surface of the glass substrate without any deviation or wrinkles. After the glass paper is laid, the paper clamping component 520 releases its grip and returns to its initial position, ready to clamp and lay the next sheet of glass paper, achieving the requirement of one sheet of glass paper stacked at intervals, and completing a single glass paper laying operation.

[0070] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0071] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail 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 of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot-compatible glass substrate receiving, packaging, and cutting modification device, characterized in that, include: The conveying unit has a receiving unit on one side. On the same side as the conveying unit, there are placement components one and two. Placement component one is used to stack glass substrates, and placement component two is used to stack cellophane. A transfer robot is installed on one side of placement component one to pick up the glass substrates from the receiving unit and stack them on placement component one. A paper-feeding robot is installed on one side of placement component two to lay the cellophane on the glass substrates of placement component one. The conveying unit includes a conveying structure and a lifting and placing component. The conveying structure is provided on the rear side of the placing component 1 and the placing component 2, and the lifting and placing component is fixedly installed on the top of the output end of the conveying structure. The lifting and placing component is close to the placing component 2 and is used to lift and place the glass substrate conveyed by the conveying structure onto the placing component 2. The receiving unit includes a receiving plate, a liner plate, and a base plate. The base plate is provided on one side of the conveying structure. Sliding sleeve rods are arranged in an array at the four corners of the top of the base plate. The liner plate is fixedly installed between the sliding sleeve rods. The receiving plate is fixedly installed on the top of the sliding sleeve rods. A drive assembly is fixedly installed in the middle of the top surface of the base plate. The drive assembly is fixedly installed through the liner plate and connected to the top of the receiving plate. The drive assembly is used to start the synchronous lifting and lowering of the receiving plate and the liner plate. The paper feeding robot includes a second mounting platform, a shifting component, and a paper clamping component. The second mounting platform is located between the first and second placement components. The shifting component is mounted on the front of the second mounting platform, and the paper clamping component is mounted on the shifting component. The shifting component is used to drive the paper clamping component to lift, rotate, and flip. The paper clamping component is used to clamp the stack of cellophane.

2. The robot-compatible glass substrate receiving, sorting, and modification device according to claim 1, characterized in that: The conveying structure includes a conveyor belt and a conveyor frame. The conveyor frame is placed on the corresponding side of the receiving unit. The conveyor frame is equipped with a conveyor belt for conveying glass substrates. The lifting and placing assembly is assembled at the end near the receiving unit.

3. The robot-compatible glass substrate receiving, packaging, and cutting modification device according to claim 2, characterized in that: The lifting and placing assembly includes a telescopic cylinder, a lifting plate, and a support frame. The support frame is fixedly installed on the top of the conveyor belt near the receiving unit. The telescopic cylinder is fixedly installed on the top of the support frame. The lifting plate is fixedly installed on the output end of the telescopic cylinder. A right-angle plate is fixedly installed on the bottom of the lifting plate. A baffle is fixedly installed on the bottom of the right-angle plate near the receiving unit. The telescopic cylinder is fixedly installed on the top of the right-angle plate. The output end of the telescopic cylinder passes through the right-angle plate and is fixedly installed with a suction cup component. The baffle is used to block the glass substrate on the conveyor belt.

4. The robot-compatible glass substrate receiving, packaging, and cutting modification device according to claim 3, characterized in that: The receiving unit also includes an infrared sensor. A mounting groove is provided on the side of the receiving plate away from the conveyor frame. An infrared sensor is fixedly installed inside the mounting groove. The infrared sensor is used to sense the baffle. The drive assembly includes a threaded sleeve, a threaded rod, a reducer, and a motor. The reducer is fixedly installed in the middle of the top surface of the base plate. The output end of the reducer is fixedly connected to the threaded rod, and the input end of the reducer is equipped with a motor. The threaded sleeve is threaded onto the threaded rod, and the threaded sleeve passes through the liner and is installed and connected to the bottom of the receiving plate.

5. The robot-compatible glass substrate receiving, sorting, and modification device according to claim 1, characterized in that: The pallet-moving robot includes an installation platform, an active robotic arm, and a suction cup component. The installation platform is located on one side of the placement component, and the active robotic arm is fixedly installed on the top of the installation platform. The suction cup component is fixedly installed at the output end of the active robotic arm. The placement component includes a constraint frame, a tray, and a scissor lift frame. The constraint frame is located on one side of the installation platform, and the scissor lift frame is fixedly installed at the bottom of the constraint frame. The tray is fixedly installed on the top of the scissor lift frame, and the four sides of the tray are constrained by the constraint frame.

6. The robot-compatible glass substrate receiving, packaging, and cutting modification device according to claim 1, characterized in that: The second placement component includes a first constraint frame, a tray, and a second scissor lift frame. The first constraint frame is located on one side of the paper feeding robot. The second scissor lift frame is fixedly installed at the bottom of the first constraint frame. A liftable tray is fixedly installed on the top of the second scissor lift frame, and a clamping clearance groove is provided on one side of the top of the tray.

7. The robot-compatible glass substrate receiving, packaging, and cutting modification device according to claim 6, characterized in that: The paper feeding robot includes an active robotic arm II and a walking component. The walking component is fixedly installed at the bottom of the mounting platform II, and the active robotic arm II is fixedly installed at the top of the mounting platform II. An installation plate is fixedly installed at the output end of the active robotic arm II, and four sets of flexible grippers are assembled on the installation plate.

8. The robot-compatible glass substrate receiving, packaging, and cutting modification device according to claim 1, characterized in that: The switching assembly includes a mounting shell, a drive screw, and a mounting base. The mounting shell is fixedly mounted on the front of the mounting machine platform. The drive screw extending into the front of the mounting shell is fitted to the front of the mounting shell. The drive screw threaded through the mounting base is rotatably mounted inside the mounting shell. A rotary cylinder is fixedly mounted on the front of the mounting base. A rotatable side plate is fixedly mounted on the rotary cylinder. A telescopic cylinder is fixedly mounted on one side of the side plate. A traveling wheel is connected to the output end of the telescopic cylinder. A telescopic cylinder is fixedly mounted on the side of the side plate. A paper clamping assembly is fixedly mounted on the output end of the telescopic cylinder through the side plate.

9. The robot-compatible glass substrate receiving, packaging, and cutting modification device according to claim 1, characterized in that: The paper clamping assembly includes a second mounting shell. The output end of the telescopic cylinder four is fixedly mounted with the second mounting shell. An active gear is rotatably mounted inside the second mounting shell. Guide blocks extending into the interior are slidably mounted on the bottom and top of both sides of the second mounting shell. A toothed plate that meshes with the active gear is fixedly mounted on the inner side of the guide block. The toothed plates move in opposite directions. A clamping plate is fixedly mounted on the outer side of the guide block.

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