Workpiece rapid pick-and-place device and method

Abstract

The application relates to the technical field of workpiece processing taking and placing devices, in particular to a workpiece rapid taking and placing device and method. The workpiece rapid taking and placing device comprises a base, the upper surface of the base is provided with a vertical plate, a grabbing device, a self-locking device, the self-locking device is arranged on one side of the vertical plate, the grabbing device comprises a loading plate, the lower surface of the loading plate is fixedly connected with the upper surface of the vertical plate, two guide rails are fixedly connected with one side of the vertical plate, sliding seats are slidably connected with one side of the guide rails, an inner wall of the two sliding seats is slidably connected with a same connecting plate, a fixed plate is fixedly connected with one side of the connecting plate, a control valve is fixedly connected with one side of the fixed plate, and the air inlet end of the control valve is fixedly connected with a connecting hose. The workpiece is difficult to be rapidly taken and placed in the process of existing glass plate processing, the processing time interval is prolonged, and the processing cost of the glass plate is increased.

Description

Technical Field

[0001] This application relates to the field of workpiece processing and handling devices, and in particular to a workpiece rapid handling device and method. Background Technology

[0002] In simple terms, a workpiece handling and loading device is a module in an automated system responsible for "transporting" workpieces. Its core task is to deliver the glass sheets to be processed into the machine tool and then remove the processed glass sheets, making it a crucial link connecting manual and automated production.

[0003] Existing technologies, such as the invention patent application with publication number CN111960099A, disclose a workpiece storage mechanism and a workpiece loading and unloading device. The workpiece storage mechanism includes: a frame; a first tray for carrying workpieces, wherein a first end and a second end of the first tray, which are arranged opposite each other along a first preset direction, are slidably engaged with the frame so that the first tray is slidably mounted on the frame along a second preset direction; the second preset direction is a direction perpendicular to the first preset direction; and a first reinforcing structure that is slidably engaged with the first tray, which can apply an upward force to the first tray when the first tray slides relative to the frame; wherein the position where the first reinforcing structure engages with the first tray is located between the first end and the second end of the first tray.

[0004] Regarding the above-mentioned issues, the following technical defects were found: In the actual use of the pick-and-place device, due to the need for multi-axis linkage, it is difficult to quickly move the workpiece from one position to another, resulting in a longer movement path and a larger cycle interval, which seriously restricts the efficiency of the production line. However, multi-axis handling is more susceptible to vibration and impact, which further increases the defect rate and aggravates material loss in the production process, thereby increasing production costs. Summary of the Invention

[0005] One of the technical problems this application aims to solve is that during the processing of glass sheets, it is difficult to quickly pick up and put down the workpiece, which prolongs the processing time and thus increases the processing cost of glass sheets.

[0006] To address the aforementioned technical problems, this application provides a rapid workpiece loading and unloading device, comprising: a base, with a vertical plate mounted on its upper surface; a gripping device mounted on the upper surface of the vertical plate; and a self-locking device disposed on one side of the vertical plate. The gripping device includes a loading plate, the lower surface of which is fixedly connected to the upper surface of the vertical plate. Two guide rails are fixedly connected to one side of the vertical plate, and slide blocks are slidably connected to one side of each guide rail. A common connecting plate is slidably connected to the inner walls of the two slide blocks. A fixing plate is fixedly connected to one side of the connecting plate, and a control valve is fixedly connected to one side of the fixing plate. A connecting hose is fixedly connected to the air inlet of the control valve, and a suction cup is fixedly connected to the other end of the connecting hose. An adapter is fixedly connected to the air outlet of the control valve. This rapid workpiece loading and unloading device can be used for glass sheet processing.

[0007] In some embodiments, a rotating shaft is rotatably passed through one side of the loading plate, and a rotating plate is fixedly connected to one end of the rotating shaft. A limit hole is opened on one side of the rotating plate, and a U-shaped groove is opened on one side of the loading plate. A connecting shaft is movably connected to the inner wall of both the U-shaped groove and the limit hole, and one end of the connecting shaft is rotatably connected to the rotating plate.

[0008] In some embodiments, welding plates are fixedly connected to both sides of the control valve, and a sliding rod is slidably passed through one side of the welding plate. One end of each sliding rod is fixedly connected to the same mounting plate, and the mounting plate is fixedly connected to the suction cup.

[0009] In some embodiments, a spring is fitted onto the arcuate surface of the slide rod, and the two ends of the spring are fixedly connected to one side of the mounting plate and the other side of the welding plate, respectively.

[0010] In some embodiments, a geared motor is fixedly connected to one side of the loading plate, and the output end of the geared motor is fixedly connected to one end of the rotating shaft.

[0011] In some embodiments, the self-locking device includes a ratchet, the inner wall of which is fixedly connected to the arc surface of the rotating shaft, a fixing post is fixedly connected to one side of the loading plate, and a pawl is rotatably connected to the arc surface of the fixing post, with the ratchet and pawl engaging.

[0012] In some embodiments, a coil spring is fitted onto the cylindrical surface of the fixing post, and the two ends of the coil spring are fixedly connected to one side of the pawl and one end of the fixing post, respectively.

[0013] In some embodiments, an electric actuator is fixedly connected to one side of the loading plate, and a fixed seat is fixedly connected to the output end of the electric actuator. The fixed seat has a U-shaped cross-section, and sliding holes are provided on both sides of the fixed seat. The same telescopic rod is movably connected to the inner wall of the two sliding holes. A mounting seat is fixedly connected to one side of the pawl, and the inner wall of the mounting seat is rotatably connected to the output end of the telescopic rod.

[0014] In some embodiments, a limiting ring is fixedly connected to one side of the ratchet, and one side of the limiting ring is in contact with one side of the pawl.

[0015] This invention also provides a method for rapid pick-up and drop-off of workpieces, comprising the following steps: S1. Start the geared motor to drive the rotating shaft to rotate, causing the rotating plate to swing. The rotating plate pulls the slide block horizontally along the guide rail via the connecting shaft, while the connecting plate can slide up and down within the slide block, thereby adjusting the suction cup to be directly above the glass sheet conveyor line. During the positioning process, the pawl is always engaged with the ratchet under the action of the coil spring to prevent the rotating shaft from accidentally reversing due to external force, ensuring stable positioning. The electric push rod remains extended, keeping the pawl tightly locked with the ratchet to prevent the suction cup from shifting position during movement.

[0016] S2. Once the suction cup is aligned with the glass sheet to be picked up, the control valve is activated, creating a vacuum inside the suction cup via the connecting hose. The geared motor then rotates, and the suction cup moves downwards to contact the glass surface. During this process, the mounting plate slides upwards along the slide bar, compressing the spring and ensuring flexible contact between the suction cup and the glass sheet, preventing damage from hard impacts. The spring force also causes the suction cup to adaptively conform to the glass surface, ensuring a tight seal. After adsorption is complete, the geared motor drives the rotating shaft again, lifting and horizontally moving the glass sheet above the processing station.

[0017] S3. After the glass sheet arrives at the processing station, the control valve switches the air path, releasing the vacuum inside the suction cup and allowing the glass sheet to be smoothly released onto the processing table. If the next pick-up / placement cycle is required, the electric push rod retracts, moving the fixed base and telescopic rod. The telescopic rod pulls the mounting base, causing the pawl to overcome the spring force and rotate around the fixed post, thus disengaging from the ratchet and releasing the locked state. At this point, the shaft can rotate freely, and the geared motor drives the suction cup back to the initial pick-up position. Subsequently, the electric push rod extends, and the pawl, under the action of the spring, re-engages with the ratchet, restoring self-locking and preparing for the next cycle.

[0018] In the above technical solution, by setting up a gripping device, starting the geared motor to drive the rotating shaft to rotate, causing the rotating plate to swing, the connecting shaft pulls the slide to slide horizontally along the guide rail, and at the same time the connecting plate slides up and down in the slide. The suction cup is adjusted to be directly above the glass sheet conveying line. The control valve creates negative pressure by drawing a vacuum on the suction cup through the connecting hose. When the suction cup moves down to contact the glass surface, the mounting plate slides up along the slide rod to compress the spring, achieving flexible contact and avoiding hard impact. The spring force causes the suction cup to adaptively fit the glass surface to ensure adsorption and sealing. After adsorption is completed, the geared motor drives the rotating shaft to lift the glass sheet and move it horizontally above the processing station. The control valve switches the air path to release the vacuum, allowing the glass sheet to be released smoothly. This achieves rapid, flexible pick-and-place and precise positioning of the glass sheet.

[0019] By setting a self-locking device, the pawl is always engaged with the ratchet under the action of the coil spring during the positioning process, preventing the rotating shaft from accidentally reversing due to external force and ensuring the stability of the position after positioning. The electric push rod is kept extended to keep the pawl tightly locked to the ratchet to prevent position displacement when the suction cup moves. When it is necessary to release the lock, the electric push rod retracts and drives the fixed seat and telescopic rod to move. The telescopic rod pulls the mounting seat so that the pawl overcomes the spring force and disengages from the ratchet, and the rotating shaft can rotate freely to reset. After the electric push rod extends, the pawl re-engages with the ratchet under the action of the coil spring to restore the self-locking. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application 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 this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a three-dimensional structural schematic diagram of a workpiece quick pick-and-place device disclosed in an embodiment of this application; Figure 2 This is disclosed in the embodiments of this application. Figure 1 A schematic diagram of the side structure; Figure 3 This is a schematic diagram of the gripping device disclosed in the embodiments of this application; Figure 4 This is disclosed in the embodiments of this application. Figure 3 Enlarged view of point A; Figure 5 This is disclosed in the embodiments of this application. Figure 3 A partial structural diagram; Figure 6 This is disclosed in the embodiments of this application. Figure 3 The diagram shows the rear structure. Figure 7 This is a schematic diagram of the self-locking device disclosed in the embodiments of this application; Figure 8 This is disclosed in the embodiments of this application. Figure 7 Enlarged view of point B; Figure 9 This is disclosed in the embodiments of this application. Figure 7 A partial disassembly diagram of the structure.

[0022] Explanation of reference numerals in the attached drawings: 1. Base; 2. Vertical plate; 3. Gripping device; 301. Loading plate; 302. Rotating shaft; 303. Rotating plate; 304. Connecting shaft; 305. U-shaped groove; 306. Guide rail; 307. Slide seat; 308. Connecting plate; 309. Fixing plate; 310. Control valve; 311. Adapter; 312. Welding plate; 313. Slide rod; 314. Mounting plate; 315. Suction cup; 316. Spring; 317. Connecting hose; 318. Limiting hole; 319. Gear motor; 4. Self-locking device; 401. Ratchet; 402. Fixing post; 403. Pawl; 404. Coil spring; 405. Electric push rod; 406. Fixing seat; 407. Sliding hole; 408. Telescopic rod; 409. Mounting seat; 410. Limiting ring. Detailed Implementation

[0023] The embodiments of this application will be further described in detail below with reference to the accompanying drawings and examples. The detailed description of the following embodiments and the accompanying drawings are used to illustrate the principles of this application by way of example, but should not be used to limit the scope of this application. This application can be implemented in many different forms and is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

[0024] These embodiments are provided to make the application thorough and complete, and to fully express the scope of the application to those skilled in the art. It should be noted that, unless otherwise specifically stated, the relative arrangement of components and steps, material composition, numerical expressions, and values ​​illustrated in these embodiments should be interpreted as merely exemplary and not as limiting.

[0025] It should be noted that, in the description of this application, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," and "outer," etc., indicating orientation or positional relationship, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0026] Furthermore, the terms "first," "second," and similar terms used in this application do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. "Vertical" is not strictly vertical, but within the permissible margin of error. "Parallel" is not strictly parallel, but within the permissible margin of error. Terms such as "including" or "contains" mean that the element preceding the word encompasses the element listed after it, and do not exclude the possibility of encompassing other elements as well.

[0027] It should also be noted that, in the description of this application, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application depending on the specific circumstances. When a specific device is described as being located between a first device and a second device, an intermediary device may or may not be present between the specific device and the first or second device.

[0028] All terms used in this application have the same meaning as understood by one of ordinary skill in the art to which this application pertains, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be interpreted as having meanings consistent with their meanings in the context of the relevant art, and not as idealized or highly formalized, unless expressly defined herein.

[0029] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.

[0030] Reference Figure 1 and Figure 2 As shown, the present invention provides a technical solution: a workpiece quick pick-up and drop device, comprising: a base 1, a vertical plate 2 mounted on the upper surface of the base 1; a gripping device 3 mounted on the upper surface of the vertical plate 2; and a self-locking device 4; the self-locking device 4 is disposed on one side of the vertical plate 2.

[0031] The following section will explain the specific setup and function of the gripping device 3 and the self-locking device 4.

[0032] Reference Figure 3 , Figure 4 , Figure 5 and Figure 6As shown in this embodiment: the gripping device 3 includes a loading plate 301, the lower surface of which is fixedly connected to the upper surface of the upright plate 2. Two guide rails 306 are fixedly connected to one side of the upright plate 2. A slide block 307 is slidably connected to one side of the guide rails 306. The inner walls of the two slide blocks 307 are slidably connected to the same connecting plate 308. A fixing plate 309 is fixedly connected to one side of the connecting plate 308. A control valve 310 is fixedly connected to one side of the fixing plate 309. A connecting hose 317 is fixedly connected to the air inlet of the control valve 310. A suction cup 315 is fixedly connected to the other end of the connecting hose 317. An adapter 311 is fixedly connected to the air outlet of the control valve 310. The vacuum adsorption and release of the suction cup 315 are controlled by the control valve 310. The position of the suction cup 315 can be adjusted by sliding the slide block 307 along the guide rails 306. The height of the suction cup 315 can be adjusted by sliding the connecting plate 308 within the slide block 307, thus realizing the rapid picking and placing of glass plates at different positions. A rotating shaft 302 is rotatably mounted on one side of the loading plate 301. A rotating plate 303 is fixedly connected to one end of the rotating shaft 302. A limiting hole 318 is formed on one side of the rotating plate 303. A U-shaped groove 305 is formed on one side of the loading plate 301. A connecting shaft 304 is movably connected to the inner wall of both the U-shaped groove 305 and the limiting hole 318. One end of the connecting shaft 304 is rotatably connected to the rotating plate 303. By rotating the rotating shaft 302, the rotating plate 303 is driven to swing, which drives the slide block 307 to move along the guide rail 306 via the connecting shaft 304, thereby realizing the horizontal reciprocating movement of the suction cup 315, which facilitates the transfer of glass sheets from the conveyor line to the processing position. Welding plates 312 are fixedly connected to both sides of the control valve 310. A sliding rod 313 is slidably mounted on one side of the welding plate 312. One end of each sliding rod 313 is fixedly connected to the same mounting plate 314, which is fixedly connected to the suction cup 315. The mounting plate 314 can slide along the slide rod 313, allowing the suction cup 315 to have a certain amount of floating when contacting the glass sheet, avoiding damage to the glass due to hard contact. A spring 316 is fitted onto the arc surface of the slide rod 313, with both ends of the spring 316 fixedly connected to one side of the mounting plate 314 and one side of the welding plate 312, respectively. Under the elastic force of the spring 316, the mounting plate 314 and the suction cup 315 have an automatic downward tendency, allowing the suction cup 315 to adaptively conform to the glass surface, ensuring reliable adsorption. A reduction motor 319 is fixedly connected to one side of the loading plate 301, with the output end of the reduction motor 319 fixedly connected to one end of the rotating shaft 302. The rotation of the rotating shaft 302 is driven by the reduction motor 319, achieving automatic control of the suction cup 315's position, improving pick-and-place efficiency and positioning accuracy.

[0033] Reference Figure 7 , Figure 8 and Figure 9As shown, in this embodiment: the self-locking device 4 includes a ratchet 401, the inner wall of which is fixedly connected to the arc surface of the rotating shaft 302. A fixing post 402 is fixedly connected to one side of the loading plate 301, and a pawl 403 is rotatably connected to the arc surface of the fixing post 402. The ratchet 401 and the pawl 403 mesh. The pawl 403 engaging with the ratchet 401 prevents the rotating shaft 302 from rotating on its own due to external force, ensuring the stability of the suction cup 315 in the pick-up and put-down position. A coil spring 404 is sleeved on the cylindrical surface of the fixing post 402, and both ends of the coil spring 404 are fixedly connected to one side of the pawl 403 and one end of the fixing post 402, respectively. Under the elastic force of the coil spring 404, the pawl 403 has a tendency to automatically rotate towards the ratchet 401, ensuring that the pawl 403 always remains engaged with the ratchet 401. An electric actuator 405 is fixedly connected to one side of the loading plate 301. A fixed base 406 is fixedly connected to the output end of the electric actuator 405. The fixed base 406 has a U-shaped cross-section, and sliding holes 407 are provided on both sides of the fixed base 406. A telescopic rod 408 is movably connected to the inner walls of the two sliding holes 407. A mounting base 409 is fixedly connected to one side of the pawl 403, and the inner wall of the mounting base 409 is rotatably connected to the output end of the telescopic rod 408. By driving the fixed base 406 and the telescopic rod 408 to move via the electric actuator 405, the pawl 403 can be disengaged from the ratchet 401, releasing the lock and allowing the rotating shaft 302 to rotate freely for position adjustment. A limit ring 410 is fixedly connected to one side of the ratchet 401, with one side of the limit ring 410 fitting against one side of the pawl 403. The limit ring 410 restricts the axial position of the pawl 403, preventing the pawl 403 from disengaging from the ratchet 401 during rotation.

[0034] Working Principle: To reduce the difficulty of quickly picking up and placing workpieces during glass sheet processing, which leads to extended processing intervals, a gripping device 3 is required. First, the geared motor 319 is started, its output shaft driving the rotating shaft 302 to rotate, which in turn drives the rotating plate 303 to rotate. One end of the connecting shaft 304 slides within the limiting hole 318 of the rotating plate 303, and the other end slides within the U-shaped groove 305 of the loading plate 301, thus converting the oscillating motion into horizontal linear motion, pushing the slide block 307 to slide horizontally along the guide rail 306. The connecting plate 308 slides upward within the slide block 307, aligning the fixing plate 309 and the suction cup 315 below it directly above the glass sheet conveyor line. An external vacuum line is connected to the control valve 310 via an adapter 311, and the control valve 310 then evacuates air from inside the suction cup 315 via a connecting hose 317, creating negative pressure. Subsequently, the geared motor 319 drives the rotating shaft 302 again, causing the suction cup 315 to descend to the glass surface. When the suction cup 315 contacts the glass, the mounting plate 314 slides upward along the slide bar 313, simultaneously compressing the spring 316 to provide flexible cushioning and prevent damage to the glass from hard impacts. The compressed spring 316 generates a counter-force, ensuring the suction cup 315 adheres tightly to the glass surface and guarantees a seal. Next, the geared motor 319 rotates again, driving the rotating shaft 302 to raise the suction cup 315 and move the glass sheet horizontally above the processing station. Finally, the control valve 310 releases the vacuum inside the suction cup 315, allowing the glass sheet to fall smoothly onto the processing table.

[0035] To prevent the workpiece from accidentally falling and causing damage due to motor reversal during adsorption and transfer, a self-locking device 4 is required for protection. The ratchet 401 is fixedly connected to the rotating shaft 302 and rotates synchronously with it. The pawl 403, under the elastic force of the coil spring 404, is always engaged in the teeth of the ratchet 401, effectively preventing the rotating shaft 302 from accidentally reversing. At this time, the electric actuator 405 remains extended, pushing the fixed seat 406 forward, so that the telescopic rod 408 can only slide along the sliding hole 407, ensuring that the pawl 403 can only rotate in the forward direction and cannot rotate in the reverse direction, thus locking the pawl 403 to the ratchet 401 and preventing the motor from rotating backward. When it is necessary to release the self-locking, the electric actuator 405 retracts, causing the fixed seat 406 to move backward. The fixed seat 406 pulls the mounting seat 409 through the telescopic rod 408 in the sliding hole 407, which in turn drives the pawl 403 to rotate around the fixed post 402, overcoming the elastic force of the coil spring 404, causing the pawl 403 to disengage from the ratchet 401, and the locking state is released. After the ratchet 401 completes its reverse operation, the electric actuator 405 extends again, the fixed seat 406 moves forward, the telescopic rod 408 releases the mounting seat 409, and the pawl 403, under the action of the elastic force of the coil spring 404, re-engages into the ratchet 401, restoring the self-locking state, ready to enter the next working cycle.

[0036] A method for quick pick-up and drop-off of workpieces is also provided, including the following steps: S1. Start the geared motor 319 to drive the rotating shaft 302 to rotate, causing the rotating plate 303 to swing. The rotating plate 303 pulls the slide 307 to slide horizontally along the guide rail 306 through the connecting shaft 304. At the same time, the connecting plate 308 can slide up and down within the slide 307, thereby adjusting the suction cup 315 to be directly above the glass sheet conveyor line. During the positioning process, the pawl 403 is always engaged with the ratchet 401 under the action of the coil spring 404 to prevent the rotating shaft 302 from accidentally reversing due to external force, ensuring the stability of the position after positioning. The electric push rod 405 remains extended, so that the pawl 403 locks the ratchet 401 tightly, preventing the suction cup 315 from shifting position during movement.

[0037] S2. Once the suction cup 315 is aligned with the glass substrate to be picked up, the control valve 310 is activated, drawing a vacuum into the suction cup 315 via the connecting hose 317, creating negative pressure inside. Subsequently, the geared motor 319 rotates, and the suction cup 315 moves downwards to contact the glass surface. During this process, the mounting plate 314 slides upwards along the slide rod 313, compressing the spring 316, allowing the suction cup 315 to make flexible contact with the glass substrate, avoiding damage from hard impacts. The elasticity of the spring 316 also causes the suction cup 315 to adaptively conform to the glass surface, ensuring a tight seal during adsorption. After adsorption is complete, the geared motor 319 drives the rotating shaft 302 again, lifting and horizontally moving the glass substrate above the processing station.

[0038] S3. After the glass sheet arrives at the processing station, the control valve 310 switches the air path, releasing the vacuum inside the suction cup 315, allowing the glass sheet to be smoothly released onto the processing table. If the next pick-up / placement cycle is required, the electric push rod 405 retracts, moving the fixed base 406 and the telescopic rod 408. The telescopic rod 408 pulls the mounting base 409, causing the pawl 403 to overcome the spring force of the coil spring 404 and rotate around the fixed post 402, thus disengaging from the ratchet 401 and releasing the locked state. At this time, the rotating shaft 302 can rotate freely, and the reduction motor 319 drives the suction cup 315 back to the initial pick-up position. Subsequently, the electric push rod 405 extends, and the pawl 403, under the action of the coil spring 404, re-engages with the ratchet 401, restoring self-locking and preparing for the next cycle.

[0039] The embodiments of this application have now been described in detail. To avoid obscuring the concept of this application, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0040] While specific embodiments of this application have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of this application. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any manner.

Claims

1. A workpiece quick pick-and-place device, characterized in that, include: A base (1) has a vertical plate (2) mounted on its upper surface. A gripping device (3) is mounted on the upper surface of the upright plate (2); and Self-locking device (4); the self-locking device (4) is disposed on one side of the upright plate (2); The gripping device (3) includes a loading plate (301), the lower surface of which is fixedly connected to the upper surface of the upright plate (2). Two guide rails (306) are fixedly connected to one side of the upright plate (2). A slide block (307) is slidably connected to one side of the guide rail (306). The inner walls of the two slide blocks (307) are slidably connected to the same connecting plate (308). A fixing plate (309) is fixedly connected to one side of the connecting plate (308). A control valve (310) is fixedly connected to one side of the fixing plate (309). A connecting hose (317) is fixedly connected to the air inlet end of the control valve (310). A suction cup (315) is fixedly connected to the other end of the connecting hose (317). An adapter (311) is fixedly connected to the air outlet end of the control valve (310).

2. The workpiece quick pick-and-place device according to claim 1, characterized in that, A rotating shaft (302) is rotatably passed through one side of the loading plate (301). A rotating plate (303) is fixedly connected to one end of the rotating shaft (302). A limiting hole (318) is opened on one side of the rotating plate (303). A U-shaped groove (305) is opened on one side of the loading plate (301). A connecting shaft (304) is movably connected to the inner wall of the U-shaped groove (305) and the limiting hole (318). One end of the connecting shaft (304) is rotatably connected to the rotating plate (303).

3. The workpiece quick pick-and-place device according to claim 1, characterized in that, Welding plates (312) are fixedly connected to both sides of the control valve (310). A sliding rod (313) is slidably passed through one side of the welding plate (312). One end of each of the two sliding rods (313) is fixedly connected to the same mounting plate (314). The mounting plate (314) is fixedly connected to the suction cup (315).

4. The workpiece quick pick-and-place device according to claim 3, characterized in that, The arc surface of the slide rod (313) is fitted with a spring (316), and the two ends of the spring (316) are fixedly connected to one side of the mounting plate (314) and one side of the welding plate (312), respectively.

5. A workpiece quick pick-and-place device according to claim 1, characterized in that, A geared motor (319) is fixedly connected to one side of the loading plate (301), and the output end of the geared motor (319) is fixedly connected to one end of the rotating shaft (302).

6. The workpiece quick pick-and-place device according to claim 1, characterized in that, The self-locking device (4) includes a ratchet (401), the inner wall of which is fixedly connected to the arc surface of the rotating shaft (302), a fixing post (402) is fixedly connected to one side of the loading plate (301), and a pawl (403) is rotatably connected to the arc surface of the fixing post (402), and the ratchet (401) and the pawl (403) mesh with each other.

7. A workpiece quick pick-and-place device according to claim 6, characterized in that, The cylindrical surface of the fixed post (402) is fitted with a coil spring (404), and the two ends of the coil spring (404) are respectively fixedly connected to one side of the pawl (403) and one end of the fixed post (402).

8. A workpiece quick pick-and-place device according to claim 6, characterized in that, An electric actuator (405) is fixedly connected to one side of the loading plate (301). A fixed seat (406) is fixedly connected to the output end of the electric actuator (405). The fixed seat (406) has a U-shaped cross-section. Sliding holes (407) are provided on both sides of the fixed seat (406). The same telescopic rod (408) is movably connected to the inner wall of the two sliding holes (407). A mounting base (409) is fixedly connected to one side of the pawl (403). The inner wall of the mounting base (409) is rotatably connected to the output end of the telescopic rod (408).

9. A workpiece quick pick-and-place device according to claim 6, characterized in that, A limiting ring (410) is fixedly connected to one side of the ratchet (401), and one side of the limiting ring (410) is in contact with one side of the pawl (403).

10. A method for rapid workpiece handling, employing a rapid workpiece handling device as described in any one of claims 1-9, characterized in that, Includes the following steps: S1. Start the geared motor (319) to drive the rotating shaft (302) to rotate, causing the rotating plate (303) to swing. The rotating plate (303) pulls the slide (307) to slide horizontally along the guide rail (306) through the connecting shaft (304). At the same time, the connecting plate (308) can slide up and down in the slide (307) to adjust the suction cup (315) to be directly above the glass sheet conveying line. During the positioning process, the pawl (403) is always engaged with the ratchet (401) under the action of the coil spring (404) to prevent the rotating shaft (302) from accidentally reversing due to external force, and to ensure the stability of the position after positioning. The electric push rod (405) remains extended, so that the pawl (403) locks the ratchet (401) tightly to avoid the suction cup (315) from shifting position during the movement. S2. When the suction cup (315) is aligned with the glass plate to be picked up, the control valve (310) is activated and a vacuum is drawn into the suction cup (315) through the connecting hose (317) to create a negative pressure inside. Then the geared motor (319) rotates and the suction cup (315) moves down to contact the glass surface. During this process, the mounting plate (314) can slide up along the slide bar (313) to compress the spring (316) so that the suction cup (315) and the glass plate can make flexible contact, avoiding hard impact that could damage the glass. The elastic force of the spring (316) also causes the suction cup (315) to adapt to the glass surface to ensure the adsorption seal. After the adsorption is completed, the geared motor (319) drives the rotating shaft (302) again to lift the glass plate and move it horizontally above the processing station. S3. After the glass plate arrives at the processing station, the control valve (310) switches the air path to release the vacuum inside the suction cup (315), allowing the glass plate to be smoothly released onto the processing table. If the next pick-up and drop-off is required, the electric push rod (405) retracts, driving the fixed seat (406) and telescopic rod (408) to move. The telescopic rod (408) pulls the mounting seat (409), causing the pawl (403) to overcome the spring force of the coil spring (404) and rotate around the fixed column (402), thereby disengaging from the ratchet (401) and releasing the locked state. At this time, the rotating shaft (302) can rotate freely, and the reduction motor (319) drives the suction cup (315) to return to the initial pick-up position. Then the electric push rod (405) extends, and the pawl (403) re-engages into the ratchet (401) under the action of the coil spring (404), restoring self-locking and preparing to enter the next cycle.

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