Glass substrate partition paper grabbing equipment

Abstract

The utility model relates to glass substrate partition paper grabbing equipment which comprises a partition paper separating device, a lifting mechanism, a partition paper conveying device, a partition paper conveying device, a partition paper conveying device, a partition paper conveying device, a partition paper conveying device, a partition paper conveying device, a partition paper conveying device and a partition paper conveying device, the partition paper conveying device is arranged on the partition paper conveying device, and the partition paper conveying device is arranged on the partition paper conveying device. The adsorption mechanism is located above the partition paper storage platform and provided with an air blowing mechanism capable of blowing air towards the partition paper. The partition paper transfer device comprises a transition platform and a movable clamping mechanism, and the movable clamping mechanism transversely reciprocates along the transition platform to approach or leave the adsorption mechanism so as to be used for clamping and transferring the separated partition paper; the partition paper grabbing device comprises a mechanical arm and a suction cup frame, the suction cup frame is provided with a second suction cup set, and the second suction cup set is arranged above the transition platform to grab the partition paper. And the stability of grabbing a single piece of partition paper is improved, and the problem of grabbing a plurality of pieces of partition paper is effectively avoided.

Description

Technical Field

[0001] The present disclosure relates to the field of glass substrate production and manufacturing, and in particular, to a glass substrate spacer gripping device. Background Art

[0002] In a glass substrate production line, when packing glass substrates, in order to prevent two adjacent glass substrates from adhering to each other, a paper separator is usually sandwiched between the two glass substrates. In the actual production process, a robot is generally used to adsorb the paper separator through a vacuum suction cup to pack the paper separator and the glass substrate layer by layer. However, since the paper separator has pores that allow air to pass through and has its own adhesion, it is easy for the robot to adsorb multiple sheets of paper separator and put them into the packing box together during the existing actual grasping process, which will inevitably affect the unpacking process of subsequent production and reduce the production efficiency of glass substrates. Utility Model Content

[0003] The object of the present disclosure is to provide a glass substrate spacer paper grabbing device, which can stably grab a single piece of spacer paper.

[0004] In order to achieve the above object, the present disclosure provides a glass substrate spacer gripping device, comprising:

[0005] The paper separator separation device comprises a fixed platform, an adsorption mechanism and a lifting platform arranged on the fixed platform, the lifting platform comprises a paper separator storage platform and a lifting mechanism for driving the paper separator storage platform to move up and down, the adsorption mechanism is located above the paper separator storage platform and is provided with a blowing mechanism capable of blowing air toward the paper separator;

[0006] The separator paper transfer device comprises a transition platform and a movable clamping mechanism, wherein the movable clamping mechanism reciprocates laterally along the transition platform to approach or move away from the adsorption mechanism, so as to clamp and transfer the separated separator paper;

[0007] The spacer paper grabbing device comprises a manipulator and a suction cup frame, wherein the suction cup frame is provided with a second suction cup group, and the second suction cup group is arranged above the transition platform to grab the spacer paper.

[0008] Optionally, the adsorption mechanism includes a suction cup rod and a first suction cup group, the first suction cup group includes a plurality of first suction cups arranged at intervals along the length direction of the suction cup rod, the suction cup rod is located parallel to and above one side edge of the separation paper, and the suction ports of the plurality of first suction cups face the side edge and are located on the same horizontal plane.

[0009] Optionally, the blowing mechanism is constructed as a duckbill blowing device, which includes a duckbill nozzle arranged on the suction cup rod, and an air outlet of the duckbill nozzle faces the separator paper.

[0010] Optionally, an overpressure detection sensor is provided on the suction cup rod.

[0011] Optionally, the overpressure detection sensor is a groove type photoelectric sensor.

[0012] Optionally, the lifting mechanism includes a driving motor, a screw assembly transmission-connected to the driving motor, and a sliding seat, the screw assembly includes a driving screw and a nut seat, the sliding seat is fixed to the nut seat, and the paper separation storage platform is connected to the sliding seat.

[0013] Optionally, the movable clamping mechanism includes a driving cylinder, a guide rail assembly and a paper spacer clamping piece, the guide rail assembly includes a guide rail and a movable beam slidably connected to the guide rail, and a plurality of the paper spacer clamping pieces are spaced apart on the movable beam.

[0014] Optionally, the paper spacer clamp is a clamping claw cylinder.

[0015] Optionally, a paper separator detection sensor is provided on the moving beam.

[0016] Optionally, the paper separator detection sensor is arranged adjacent to the paper separator clamp.

[0017] Through the above technical solution, the separator paper is first adsorbed and then the separated separator paper is transported separately, and finally the separator paper is grasped by the robot. It realizes the translation of a single separator paper to the transition platform while breaking the adhesion between the separator papers, and can ensure that the robot grasps only the single separator paper that has been completely separated, which increases the stability of grasping a single separator paper and effectively avoids the problem of grasping multiple separator papers.

[0018] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0020] Figure 1 is a side view schematic diagram of a paper separator provided according to a specific embodiment of the present disclosure;

[0021] Figure 2 is a schematic top view of a paper separation device provided according to a specific embodiment of the present disclosure;

[0022] Figure 3 is a schematic top view of a paper separation transfer device provided according to a specific embodiment of the present disclosure;

[0023] Figure 4is a side view schematic diagram of a paper separation transfer device provided according to a specific embodiment of the present disclosure;

[0024] Figure 5 is a schematic top view of a paper separator grabbing device provided according to a specific embodiment of the present disclosure;

[0025] Figure 6 It is a structural schematic diagram of a glass substrate spacer gripping device provided according to a specific embodiment of the present disclosure.

[0026] Description of Reference Numerals

[0027] 1-paper separation device, 11-fixed platform, 12-adsorption mechanism, 121-suction cup rod, 122-blowing mechanism, 123-first suction cup, 124-overpressure detection sensor, 13-lifting platform, 131-paper storage platform, 132-lifting mechanism, 1321-driving motor, 1322-transmission screw, 1323-sliding seat, 2-paper transfer device, 21-transition platform, 22-movable clamping mechanism, 221-paper clamping member, 222-guide rail, 223-moving beam, 224-driving cylinder, 225-paper separation detection sensor, 3-paper separation grabbing device, 31-manipulator, 32-suction cup rack, 321-second suction cup, 4-paper separation. DETAILED DESCRIPTION

[0028] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0029] In this disclosure, unless otherwise stated, directional words such as "upper" and "lower" generally refer to Figure 1 The upper and lower parts shown in the figure, "horizontal" means horizontal direction, and can also refer to Figure 3 The up and down directions shown in the drawings. In addition, the terms "first", "second", etc. used in the present disclosure are intended to distinguish one element from another element and do not represent order and importance. In addition, in the following description, when referring to the drawings, unless otherwise explained, the same reference numerals in different drawings represent the same or similar elements. It will be understood by those skilled in the art that the above definitions are only used to explain and illustrate the present disclosure and are not intended to be limiting.

[0030] According to a specific embodiment of the present disclosure, a glass substrate spacer gripping device is provided. Figures 1 to 6 One embodiment is shown. Figures 1 to 6As shown, the glass substrate paper separator grasping device includes a paper separator separation device 1, a paper separator transfer device 2 and a paper separator grasping device 3, wherein the paper separator separation device 1 includes a fixed platform 11 and an adsorption mechanism 12 and a lifting platform 13 arranged on the fixed platform 11, the lifting platform 13 includes a paper separator storage platform 131 and a lifting mechanism 132 for driving the paper separator storage platform 131 to move up and down, the adsorption mechanism 12 is located above the paper separator storage platform 131 and is provided with a blowing mechanism 122 capable of blowing air toward the paper separator 4; the paper separator transfer device 2 includes a transition platform 21 and a mobile clamping mechanism 22, the mobile clamping mechanism 22 reciprocates laterally along the transition platform 21 to approach or move away from the adsorption mechanism 12, so as to clamp and transfer the separated paper separator 4; the paper separator grasping device 3 includes a manipulator 31 and a suction cup frame 32, the suction cup frame 32 is provided with a second suction cup group, and the second suction cup group is arranged above the transition platform 21 to grasp the paper separator 4.

[0031] The working process of the glass substrate spacer gripping device provided by the present invention is as follows: first, during the initial gripping, the lifting mechanism 132 drives the spacer storage platform 131 to rise slowly until the adsorption mechanism 12 can adsorb the spacer 4. After the adsorption mechanism 12 absorbs the spacer 4, the lifting mechanism 132 drives the spacer storage platform 131 to descend to a certain position so that a gap appears between the top adsorbed spacer and other spacers below. At this time, the blowing mechanism 122 is used to blow air into the gap to break the adhesion between the spacers; then, the moving clamping The mechanism 22 moves laterally to the adsorption mechanism 12 and clamps the separator paper adsorbed by the adsorption mechanism 12. After the separator paper is clamped, the adsorption mechanism 12 stops adsorbing the separated separator paper 4. At this time, the mobile clamping mechanism 22 retreats and transfers the separator paper to the transition platform 21. After the separator paper is transferred to the right place, the blowing mechanism 122 stops blowing; finally, the manipulator 31 drives the second suction cup group to the transition platform 21 and grabs the separator paper through the second suction cup 321. After the mobile clamping mechanism 22 releases the separator paper, the manipulator 31 takes away the separator paper to complete the grabbing of a single piece of separator paper.

[0032] Through the above technical solution, the separator paper is first separated and then transported separately, and finally the separator paper is grasped by the manipulator 31. It realizes the translation of a single separator paper to the transition platform 21 while breaking the adhesion between the separator papers, and can ensure that the manipulator 31 grasps only a single separator paper that has been completely separated, which increases the stability of grasping a single separator paper and effectively avoids the problem of grasping multiple separator papers.

[0033] When multiple sheets of separator paper are stacked, the corners of the separator paper are looser than the middle position. Therefore, in the specific embodiment of the present disclosure, Figure 1 and Figure 2As shown, the adsorption mechanism 12 includes a suction cup rod 121 and a first suction cup group, the first suction cup group includes a plurality of first suction cups 123 arranged at intervals along the length direction of the suction cup rod 121, the suction cup rod 121 is located parallel to and above one of the side edges of the separation paper 4, and the suction ports of the plurality of first suction cups 123 face the side edge and are located on the same horizontal plane.

[0034] Optionally, refer to Figure 1 As shown, the first suction cups 123 can be grouped in pairs, and three groups are arranged on both sides and in the middle according to the length of the side of the separator paper, so that the separator paper can be stably adsorbed. Of course, in other embodiments, multiple first suction cups 123 can be evenly spaced and arranged, as long as the side of the separator paper can be stably adsorbed. At the same time, considering the adsorption stability, the side of the separator paper can be selected to have a longer length.

[0035] The blowing mechanism 122 may be of any suitable structure. Figure 1 As shown, the blowing mechanism 122 is constructed as a duckbill blowing device, which includes a duckbill nozzle arranged on the suction cup rod 121, and the air outlet of the duckbill nozzle faces the separator paper 4. The duckbill nozzle is easy to install and maintain, and can provide a strong blowing effect, effectively breaking the adhesion between the separator papers.

[0036] refer to Figure 1 and Figure 2 As shown, in the specific embodiment of the present disclosure, an overpressure detection sensor 124 is provided on the suction cup rod 121. In this way, when an overpressure abnormality occurs when the first suction cup group sucks the spacer paper 4, the overpressure detection sensor 124 will automatically transmit an alarm signal to the PLC, and the gripping device will stop the first suction cup group from sucking the spacer paper, thereby realizing real-time protection of overpressure detection.

[0037] In the specific embodiments of the present disclosure, reference is made to Figure 2 As shown, the overpressure detection sensor 124 can be a groove-type photoelectric sensor with high sensitivity, high precision and fast response speed, and the specific model can be E3Z-G61. Of course, in other embodiments, piezoelectric sensors, pressure transmitters, etc. can also be used as long as overpressure protection can be achieved.

[0038] In addition, the lifting mechanism 132 can be of any suitable structure. Figure 1As shown, the lifting mechanism 132 includes a driving motor 1321, a screw assembly connected to the driving motor 1321, and a sliding seat 1323, the screw assembly includes a transmission screw 1322 and a nut seat, the sliding seat 1323 is fixed to the nut seat, and the paper separation storage platform 131 is connected to the sliding seat. Optionally, the driving motor 1321 adopts a servo motor, and by controlling the action of the servo motor, the transmission screw 1322 can be driven to rotate, so that the nut seat can drive the sliding seat to move up and down along the transmission screw 1322, so as to finally drive the paper separation storage platform 131 to perform lifting and lowering movements. In other embodiments, the lifting mechanism can also adopt a gear rack structure, as long as the lifting and lowering movement of the paper separation storage platform can be achieved.

[0039] In addition, when the servo motor drives the paper storage platform 131 to reach the suction position, it will record the current position. When taking the paper next time, the servo motor can directly lift the paper storage platform to the height of the next paper to increase the speed of taking the paper.

[0040] The mobile clamping mechanism 22 may be of any suitable structure, see Figure 3 and Figure 4 As shown, in a specific embodiment of the present disclosure, the mobile clamping mechanism 22 includes a driving cylinder 224, a guide rail assembly and a paper spacer clamping member 221. The guide rail assembly includes a guide rail 222 and a moving beam 223 slidably connected to the guide rail 222. A plurality of the paper spacer clamping members 221 are arranged at intervals on the moving beam 223. After the adsorption mechanism absorbs the paper spacer, the driving cylinder 224 drives the moving beam 223 to move from the initial position along the guide rail 222 toward the adsorption mechanism 12. After moving into position, the paper spacer clamping member 221 clamps the paper spacer 4. After clamping the paper spacer, the moving beam 223 returns to the initial position, and the paper spacer is completely transferred to the transition platform 21, waiting to be grasped.

[0041] In the specific embodiment of the present disclosure, the paper spacer clamping member 221 is a clamping claw cylinder, and Figure 4 As shown, three clamping cylinders can be provided, respectively set at the two ends and the middle of the moving beam 223, so as to stably clamp the paper separator; or they can be separately provided at the two ends, which is not limited by the present disclosure. Of course, in other embodiments, the paper separator clamp 221 can also adopt electric clamps or hydraulic clamps. And in order to accurately clamp the paper separator, the center position of the clamping cylinder is set horizontally with the adsorption position of the first suction cup.

[0042] In order to ensure that the clamping claw cylinder clamps the separator paper, in the specific embodiment of the present disclosure, refer to Figure 4As shown, the movable beam 223 is provided with a paper separator detection sensor 225, that is, when the clamping claw cylinder completes the clamping action, the paper separator detection sensor 225 performs detection to ensure that the next action can be performed only after the paper separator is clamped, so as to avoid empty transportation. Optionally, the paper separator detection sensor 225 can be a diffuse reflection sensor, and the model can be E3Z-D61. Of course, in other embodiments, other photoelectric sensors can also be selected, and this disclosure does not limit this.

[0043] refer to Figure 4 As shown, in a specific embodiment of the present disclosure, the paper separation detection sensor 225 is disposed adjacent to the paper separation clamp 221. Figure 3 As shown, two sensors for detecting the presence or absence of spacer paper can be set and respectively adjacent to the spacer paper clamps on both sides, so that after the spacer paper enters the monitoring area, a signal can be output in time to ensure that the spacer paper clamp 221 can clamp the spacer paper.

[0044] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0045] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0046] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A glass substrate spacer grabbing device, characterized in that: include: The paper separator separation device comprises a fixed platform, an adsorption mechanism and a lifting platform arranged on the fixed platform, the lifting platform comprises a paper separator storage platform and a lifting mechanism for driving the paper separator storage platform to move up and down, the adsorption mechanism is located above the paper separator storage platform and is provided with a blowing mechanism capable of blowing air toward the paper separator; The separator paper transfer device comprises a transition platform and a movable clamping mechanism, wherein the movable clamping mechanism reciprocates laterally along the transition platform to approach or move away from the adsorption mechanism, so as to clamp and transfer the separated separator paper; The spacer paper grabbing device comprises a manipulator and a suction cup frame, wherein the suction cup frame is provided with a second suction cup group, and the second suction cup group is arranged above the transition platform to grab the spacer paper.

2. The glass substrate spacer gripping device according to claim 1, characterized in that: The adsorption mechanism includes a suction cup rod and a first suction cup group, the first suction cup group includes a plurality of first suction cups arranged at intervals along the length direction of the suction cup rod, the suction cup rod is located parallel to and above one side edge of the separation paper, and the suction ports of the plurality of first suction cups face the side edge and are located on the same horizontal plane.

3. The glass substrate spacer gripping device according to claim 2, characterized in that: The blowing mechanism is constructed as a duckbill blowing device, which includes a duckbill nozzle arranged on the suction cup rod, and the air outlet of the duckbill nozzle faces the separator paper.

4. The glass substrate spacer gripping device according to claim 2, characterized in that: An overpressure detection sensor is arranged on the suction cup rod.

5. The glass substrate spacer gripping device according to claim 4, characterized in that: The overpressure detection sensor is a groove type photoelectric sensor.

6. The glass substrate spacer gripping device according to claim 1, characterized in that: The lifting mechanism includes a driving motor, a screw assembly drivingly connected to the driving motor, and a sliding seat. The screw assembly includes a driving screw and a nut seat. The sliding seat is fixed to the nut seat, and the paper separation storage platform is connected to the sliding seat.

7. The glass substrate spacer gripping device according to claim 1, characterized in that: The movable clamping mechanism comprises a driving cylinder, a guide rail assembly and a paper spacer clamping piece. The guide rail assembly comprises a guide rail and a movable beam slidably connected to the guide rail. A plurality of the paper spacer clamping pieces are arranged at intervals on the movable beam.

8. The glass substrate spacer gripping device according to claim 7, characterized in that: The paper spacer clamping member is a clamping claw cylinder.

9. The glass substrate spacer gripping device according to claim 7, characterized in that: A sensor for detecting the presence or absence of a separator paper is arranged on the moving beam.

10. The glass substrate spacer gripping device according to claim 9, characterized in that: The paper separation detection sensor is arranged adjacent to the paper separation clamping member.

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