Screen glass discharging mechanism

Abstract

The utility model discloses a screen glass blanking mechanism which comprises a non-defective product temporary placing frame, a defective product temporary placing frame, a non-defective product loading platform, a defective product loading platform, a charging tray supply platform and a material grabbing mechanism, and the material grabbing mechanism comprises a material transferring mechanical arm, a non-defective product grabbing mechanical arm, a defective product grabbing mechanical arm and a charging tray mechanical arm which are movably arranged. A material transferring mechanical arm of the material grabbing mechanism grabs good product screen glass and defective product screen glass and places the good product screen glass and the defective product screen glass on a good product temporary placing frame and a defective product temporary placing frame, empty material discs are grabbed from a material disc feeding table through a material disc mechanical arm and placed on a good product loading table and a defective product loading table, and a good product grabbing mechanical arm places the good product screen glass on the good product loading table. And the defective product grabbing manipulator places the defective product screen glass on the defective product loading table. According to the utility model, the materials can be accurately classified and placed according to the quality state, the sorting accuracy and reliability are improved, and the material processing time is obviously reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of screen detection, in particular to a screen glass blanking mechanism. Background Art

[0002] Screen glass sorting and unloading are key steps in the screen inspection process. While some robotic arms are already used in screen inspection production lines, existing unloading machines still have shortcomings in sorting, transporting, and placing good and bad parts. Specifically, traditional unloading machines often lack effective separation of good and bad parts, increasing operational complexity and impacting the overall smoothness and accuracy of production. Utility Model Content

[0003] The purpose of the utility model is to overcome the deficiencies of the prior art and provide a screen glass blanking mechanism.

[0004] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0005] The utility model provides a screen glass unloading mechanism, including a temporary placement rack for good products, a temporary placement rack for defective products, a good product loading platform, a defective product loading platform, a material tray supply platform and a grabbing mechanism, the grabbing mechanism including a movably arranged material transfer robot, a good product grabbing robot, a defective product grabbing robot and a material tray robot, the material transfer robot is used to grab the good screen glass and place it on the temporary placement rack for good products, and to grab the defective screen glass and place it on the temporary placement rack for defective products, the empty material tray is grabbed from the material tray supply platform by the material tray robot and placed on the good product loading platform and the defective product loading platform, the good product grabbing robot is used to grab the good screen on the temporary placement rack for good products and place it in the material tray on the good product loading platform, and the defective product grabbing robot is used to grab the defective screen on the temporary placement rack for defective products and place it in the material tray on the defective product loading platform.

[0006] Furthermore, the good product temporary placement rack and the defective product temporary placement rack are arranged side by side along the X-axis direction, the good product loading platform, the defective product loading platform and the material tray supply platform are arranged side by side along the X-axis direction, and are located in front of the good product temporary placement rack and the defective product temporary placement rack, the good product loading platform and the good product temporary placement rack are arranged in front and back correspondence, and the defective product loading platform and the defective product temporary placement rack are arranged in front and back correspondence.

[0007] Furthermore, the gripping mechanism also includes a first X-axis linear module, which is arranged behind the temporary placement rack for good products and the temporary placement rack for defective products. The material transfer robot is connected to the first X-axis linear module, and the material transfer robot can move along the X-axis direction under the action of the first X-axis linear module.

[0008] Furthermore, the gripping mechanism also includes a second X-axis linear module, which is arranged in front of the good product loading table, the defective product loading table and the tray supply table, and the tray manipulator and the second X-axis linear module. The tray manipulator can move along the X-axis direction under the action of the second X-axis linear module.

[0009] Furthermore, the gripping mechanism also includes a Y-axis linear module, and the good product gripping robot and the defective product gripping robot are connected to the Y-axis linear module. The good product gripping robot and the defective product gripping robot can move along the Y-axis direction under the action of the Y-axis linear module.

[0010] Furthermore, the gripping mechanism also includes an upright support frame, which is arranged between the good product loading platform and the defective product loading platform. The upright support frame includes a front column and a rear column, and the Y-axis linear module is connected to the upper ends of the front column and the rear column.

[0011] Furthermore, the material grabbing mechanism also includes a manipulator linkage frame, the manipulator linkage frame is connected to the Y-axis linear module, the good product grabbing manipulator and the defective product grabbing manipulator are connected to the manipulator linkage frame, and when the manipulator linkage frame moves along the Y-axis direction under the action of the Y-axis linear module, it drives the good product grabbing manipulator and the defective product grabbing manipulator to move synchronously along the Y-axis direction.

[0012] Furthermore, the robot linkage frame includes a transverse linkage rod, which is connected across the Y-axis linear module. The left end of the transverse linkage rod is connected to the good product grabbing robot so that the good product grabbing robot is located on the left side of the Y-axis linear module. The right end of the transverse linkage rod is connected to the defective product grabbing robot so that the defective product grabbing robot is located on the right side of the Y-axis linear module.

[0013] Furthermore, it also includes a first lifting warehouse, a second lifting warehouse and a third lifting warehouse. The first lifting warehouse is provided with a first lifting linear module, the second lifting warehouse is provided with a second lifting linear module, and the third lifting warehouse is provided with a third lifting linear module. The good product loading platform is connected to the first lifting linear module, the defective product loading platform is connected to the second lifting linear module, and the tray supply platform is connected to the third lifting linear module.

[0014] Furthermore, the first lifting bin is also provided with a first material tray rack and a first material tray rack linear module, the first material tray rack linear module is arranged along the Y-axis direction, the first material tray rack is connected to the first material tray rack linear module, and can move along the Y-axis direction under the action of the first material tray rack linear module; the second lifting bin is also provided with a second material tray rack and a second material tray rack linear module, the second material tray rack linear module is arranged along the Y-axis direction, the second material tray rack is connected to the second material tray rack linear module, and can move along the Y-axis direction under the action of the second material tray rack linear module; the third lifting bin is also provided with a third material tray rack and a third material tray rack linear module, the third material tray rack linear module is arranged along the Y-axis direction, the third material tray rack is connected to the third material tray rack linear module, and can move along the Y-axis direction under the action of the third material tray rack linear module.

[0015] The beneficial effects of the present invention compared with the prior art are: a screen glass unloading mechanism, including a good product temporary placement rack, a defective product temporary placement rack, a good product loading table, a defective product loading table, a material tray supply table and a grabbing mechanism, the grabbing mechanism including a movably arranged material transfer robot, a good product grabbing robot, a defective product grabbing robot and a material tray robot, the material transfer robot is used to grab the good screen glass and place it on the good product temporary placement rack, and to grab the defective screen glass and place it on the defective product temporary placement rack, the empty material tray is grabbed by the material tray robot from the material tray supply table and placed on the good product loading table and the defective product loading table, the good product grabbing robot is used to grab the good screen on the good product temporary placement rack and place it in the material tray on the good product loading table, and the defective product grabbing robot is used to grab the defective screen on the defective product temporary placement rack and place it in the material tray on the defective product loading table. The utility model separates the grasping and placement of good and defective screen glasses by using a good-product grasping manipulator and a defective-product grasping manipulator, ensuring that materials can be accurately classified and placed according to their quality status, improving the accuracy and reliability of sorting, and significantly reducing material processing time.

[0016] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In addition, in order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the following preferred embodiments are specifically cited and described in detail as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A schematic structural diagram of a screen glass blanking mechanism provided in a specific embodiment of the present utility model;

[0019] Figure 2 A schematic diagram of the partial structure of a screen glass blanking mechanism provided by a specific embodiment of the utility model Figure 1 ;

[0020] Figure 3 A schematic diagram of the partial structure of a screen glass blanking mechanism provided by a specific embodiment of the utility model Figure 2 .

[0021] Reference numerals

[0022] 3. Screen glass unloading mechanism; 31. Temporary placement rack for good products; 32. Temporary placement rack for defective products; 33. Loading table for good products; 34. Loading table for defective products; 35. Tray supply table; 36. Grabbing mechanism; 361. Material transfer robot; 362. Tray robot; 363. Grabbing robot for good products; 364. Grabbing robot for defective products; 365. Y-axis linear module; 366. Upright support frame; 367. Robot linkage frame; 368. First X-axis linear module; 369. Second X-axis linear module; 37. First lifting warehouse; 371. First tray rack; 38. Second lifting warehouse; 381. Second tray rack; 39. Third lifting warehouse; 391. Third tray rack. DETAILED DESCRIPTION

[0023] The following will be combined with the specific embodiments of the present invention to clearly and completely describe the technical solutions of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0024] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation to the present invention.

[0025] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this utility model, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0026] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0027] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0028] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0029] like Figures 1 to 3 As shown, the embodiment of the present invention provides a screen glass unloading mechanism 3, including a good product temporary placement rack 31, a defective product temporary placement rack 32, a good product loading platform 33, a defective product loading platform 34, a material tray supply platform 35 and a grasping mechanism 36, the grasping mechanism 36 includes a movable material transfer manipulator 361, a good product grasping manipulator 363, a defective product grasping manipulator 364 and a material tray manipulator 362, the material transfer manipulator 361 is used to grasp the good screen glass and place it on the good product temporary placement rack 31, and grab the defective screen glass and place it on the defective temporary placement rack 32, the empty tray is grabbed by the tray robot 362 from the tray supply table 35 and placed on the good product loading table 33 and the defective product loading table 34, the good product grabbing robot 363 is used to grab the good screen on the good product temporary placement rack 31 and place it in the tray on the good product loading table 33, and the defective product grabbing robot 364 is used to grab the defective screen on the defective temporary placement rack 32 and place it in the tray on the defective product loading table 34.

[0030] During operation, the material transfer robot 361 grabs the screen glass and uses visual recognition to distinguish good from defective products. The material transfer robot 361 places good products on the temporary good product storage rack 31 and defective products on the temporary defective product storage rack 32. The tray robot 362 grabs empty trays from the tray supply table 35 and places them on the good product loading table 33 and the defective product loading table 34, respectively. The good product grabbing robot 363 grabs good screens from the temporary good product storage rack 31 and places them on the trays on the good product loading table 33. The defective product grabbing robot 364 grabs defective screens from the temporary defective product storage rack 32 and places them on the trays on the defective product loading table 34.

[0031] The utility model separates the grasping and placement of good and defective screen glasses by the good-product grasping manipulator 363 and the defective-product grasping manipulator 364, ensuring that materials can be accurately classified and placed according to their quality status, improving the accuracy and reliability of sorting, and significantly reducing material processing time.

[0032] like Figure 1As shown, the good product temporary placement rack 31 and the defective product temporary placement rack 32 are arranged side by side along the X-axis direction, the good product loading table 33, the defective product loading table 34 and the material tray supply table 35 are arranged side by side along the X-axis direction, and are located in front of the good product temporary placement rack 31 and the defective product temporary placement rack 32, the good product loading table 33 and the good product temporary placement rack 31 are arranged in front and back correspondence, and the defective product loading table 34 and the defective product temporary placement rack 32 are arranged in front and back correspondence.

[0033] Specifically, the temporary placement rack 31 for good products and the temporary placement rack 32 for defective products are arranged side by side along the X-axis direction. Such a parallel arrangement ensures that during the material transfer process, good products and defective products can be quickly separated by simple lateral movement. The good product loading platform 33, the defective product loading platform 34 and the material tray supply platform 35 are also arranged side by side along the X-axis direction and are located in front of the temporary placement rack. This arrangement eliminates the need for the manipulator to move over a large range when grabbing and placing, and only requires short distance movement forward and backward or left and right, greatly improving efficiency. The good product loading platform 33 and the temporary placement rack 31 for good products are arranged front to back, and the defective product loading platform 34 and the temporary placement rack 32 for defective products are arranged front to back. This corresponding relationship ensures that the picking and placing actions are completed in one plane, reduces complex path planning, and improves ease of operation.

[0034] like Figure 3 As shown, the material grabbing mechanism 36 also includes a first X-axis linear module 368, which is arranged behind the temporary placement rack for good products 31 and the temporary placement rack for defective products 32. The material transfer robot 361 is connected to the first X-axis linear module 368, and the material transfer robot 361 can move along the X-axis direction under the action of the first X-axis linear module 368.

[0035] The first X-axis linear module 368 includes a guide rail, a slider, and a drive device (such as a stepper motor or a servo motor). The guide rail is used to provide a path for linear motion, and the slider slides along the guide rail. The drive device realizes the movement of the slider by connecting the slider. The material transfer robot 361 is connected to the slider of the first X-axis linear module 368. The first X-axis linear module 368 is arranged behind the temporary placement rack 31 for good products and the temporary placement rack 32 for defective products, providing a linear motion path along the X-axis direction. The first X-axis linear module 368 has a stable structure and high precision, which can ensure the stability and accuracy of the material transfer robot 361 during the movement process.

[0036] like Figure 3 As shown, the gripping mechanism 36 also includes a second X-axis linear module 369, which is arranged in front of the good product loading table 33, the defective product loading table 34 and the tray supply table 35, and the tray manipulator 362 and the second X-axis linear module 369. The tray manipulator 362 can move along the X-axis direction under the action of the second X-axis linear module 369.

[0037] The second X-axis linear module 369 includes a guide rail, a slider, and a drive device (such as a stepper motor or servo motor). The guide rail provides a path for linear motion, along which the slider slides. The drive device connects to the slider to achieve its movement. The tray manipulator 362 is connected to the slider of the second X-axis linear module 369. Through the precise movement of the second X-axis linear module 369, the tray manipulator 362 can quickly and accurately move between the supply and loading stations, improving the overall efficiency of the system.

[0038] like Figure 2 As shown, the material grabbing mechanism 36 also includes a Y-axis linear module 365, and the good product grabbing robot 363 and the defective product grabbing robot 364 are connected to the Y-axis linear module 365. The good product grabbing robot 363 and the defective product grabbing robot 364 can move along the Y-axis direction under the action of the Y-axis linear module 365.

[0039] Y-axis linear module 365 includes a guide rail, a slider, and a drive device (such as a stepper motor or servo motor). The guide rail provides a path for linear motion, and the slider slides along the guide rail. The drive device connects to the slider to achieve its movement. The Y-axis linear module 365 ensures the synchronous movement of the good product gripper 363 and the bad product gripper 364 in the Y-axis direction, thereby improving the accuracy and efficiency of gripping and placing the screen glass.

[0040] like Figure 2 As shown, the gripping mechanism 36 also includes an upright support frame 366, which is arranged between the good product loading platform 33 and the defective product loading platform 34. The upright support frame 366 includes a front column and a rear column, and the Y-axis linear module 365 is connected to the upper ends of the front column and the rear column.

[0041] Specifically, the Y-axis linear module 365 includes parallel linear guides mounted on the upper ends of the front and rear columns. Sliders are mounted on the linear guides, which are connected to the good-product gripper 363 and the defective-product gripper 364. Driven by the Y-axis linear module 365, the good-product gripper 363 and the defective-product gripper 364 can achieve synchronized movement along the Y-axis.

[0042] like Figure 2 As shown, the material grabbing mechanism 36 also includes a manipulator linkage frame 367, the manipulator linkage frame 367 is connected to the Y-axis linear module 365, the good product grabbing manipulator 363 and the defective product grabbing manipulator 364 are connected to the manipulator linkage frame 367, and when the manipulator linkage frame 367 moves along the Y-axis direction under the action of the Y-axis linear module 365, it drives the good product grabbing manipulator 363 and the defective product grabbing manipulator 364 to move synchronously along the Y-axis direction.

[0043] Specifically, the Y-axis linear module 365 includes parallel linear guides with sliders mounted on them. The robot linkage frame 367 is bolted to the sliders of the Y-axis linear module 365, ensuring its stable movement with the sliders. The good-product gripper 363 and the defective-product gripper 364 are mounted on either side of the robot linkage frame 367. Driven by the Y-axis linear module 365, the sliders move along the linear guides, thereby driving the robot linkage frame 367 and the good-product gripper 363 and the defective-product gripper 364 mounted thereon to synchronously move in the Y-axis direction.

[0044] The robot linkage frame 367 is set to ensure the synchronous movement of the good product grabbing robot 363 and the defective product grabbing robot 364 on the Y axis, thereby improving the accuracy of the grabbing and placing process.

[0045] like Figure 2 As shown, the robot linkage frame 367 includes a transverse linkage rod, which is horizontally connected to the Y-axis linear module 365. The left end of the transverse linkage rod is connected to the good product grabbing robot 363, so that the good product grabbing robot 363 is located on the left side of the Y-axis linear module 365. The right end of the transverse linkage rod is connected to the defective product grabbing robot 364, so that the defective product grabbing robot 364 is located on the right side of the Y-axis linear module 365.

[0046] Specifically, the transverse linkage rod is a straight rod, the left end of which is connected to the good product grabbing robot 363 by a bolt, ensuring that the good product grabbing robot 363 is located on the left side of the Y-axis linear module 365. Similarly, the right end of the transverse linkage rod is connected to the fixed plate of the defective product grabbing robot 364 by a bolt, ensuring that the defective product grabbing robot 364 is located on the right side of the Y-axis linear module 365. Driven by the Y-axis linear module 365, the transverse linkage rod drives the good product grabbing robot 363 and the defective product grabbing robot 364 to move synchronously along the Y-axis direction. This design ensures the positional accuracy of the grabbing robots and realizes the synchronous movement of the good product grabbing robot 363 and the defective product grabbing robot 364 through the transverse linkage rod.

[0047] like Figure 2 As shown, the screen glass unloading mechanism 3 also includes a first lifting warehouse 37, a second lifting warehouse 38 and a third lifting warehouse 39. The first lifting warehouse 37 is provided with a first lifting linear module, the second lifting warehouse 38 is provided with a second lifting linear module, and the third lifting warehouse 39 is provided with a third lifting linear module. The good product loading platform 33 is connected to the first lifting linear module, the defective product loading platform 34 is connected to the second lifting linear module, and the material tray supply platform 35 is connected to the third lifting linear module.

[0048] Specifically, the first lifting linear module includes a guide rail and an electric slider. The guide rail is made of high-strength alloy steel, and the electric slider is driven by a servo motor to achieve precise vertical movement. The good product loading platform 33 is fixed to the electric slider through a connector and rises and falls with the movement of the slider. The second lifting linear module includes a guide rail and an electric slider. The guide rail is made of high-strength alloy steel, and the electric slider is driven by a servo motor to achieve precise vertical movement. The defective product loading platform 34 is fixed to the electric slider through a connector and rises and falls with the movement of the slider. The third lifting linear module has a similar structure to the first lifting linear module. The guide rail and slider of the module cooperate closely to ensure the stable lifting and lowering of the tray supply platform 35. The tray supply platform 35 is connected to the slider through a self-locking connector to facilitate adjustment and maintenance.

[0049] During operation, the tray supply platform 35 is controlled by the third lifting linear module to descend to the position for taking out empty trays. After the empty tray is placed on the tray supply platform 35, it is then controlled by the third lifting linear module to ascend to a predetermined position. Under the action of the tray manipulator 362, the empty tray is grabbed and placed on the good product loading platform 33 and the defective product loading platform 34. When the trays placed on the good product loading platform 33 and the defective product loading platform 34 are full, the good product loading platform 33 is controlled by the first lifting linear module to descend to the predetermined position. After the tray full of good products is removed from the good product loading platform 33, the good product loading platform 33 is again controlled by the first lifting linear module to ascend to the predetermined position. Similarly, the defective product loading platform 34 is controlled by the second lifting linear module to descend to the predetermined position. After the tray full of defective products is removed from the defective product loading platform 34, the defective product loading platform 34 is again controlled by the second lifting linear module to ascend to the predetermined position.

[0050] like Figure 3 As shown, the first lifting bin 37 is also provided with a first material tray rack 371 and a first material tray rack linear module, the first material tray rack linear module is arranged along the Y-axis direction, the first material tray rack 371 is connected to the first material tray rack linear module, and under the action of the first material tray rack linear module, it can move along the Y-axis direction; the second lifting bin 38 is also provided with a second material tray rack 381 and a second material tray rack linear module, the second material tray rack linear module is arranged along the Y-axis direction, the second material tray rack 381 is connected to the second material tray rack linear module, and under the action of the second material tray rack linear module, it can move along the Y-axis direction; the third lifting bin 39 is also provided with a third material tray rack 391 and a third material tray rack linear module, the third material tray rack linear module is arranged along the Y-axis direction, the third material tray rack 391 is connected to the third material tray rack linear module, and under the action of the third material tray rack linear module, it can move along the Y-axis direction. Such a design can realize automatic placement of empty trays on the tray supply table 35, and transfer of trays filled with materials from the good product loading table 33 and the defective product loading table 34, thereby improving the level of intelligence and work efficiency.

[0051] Specifically, the first material tray rack linear module includes a Y-axis guide rail and an electric slider. The electric slider is driven by a servo motor to ensure smooth and high-precision movement. The first material tray rack 371 is fixed to the slider through a connecting plate, so that it can move precisely along the Y-axis.

[0052] The structure of the second tray rack 381 is similar to that of the first tray rack 371. The linear module of the second tray rack also includes a Y-axis guide rail and an electric slider, which is also driven by a servo motor to ensure the precise positioning of the tray rack in the Y-axis direction.

[0053] During operation, the first tray rack 371, driven by the first tray rack linear module, advances and retreats along the Y-axis. When the first tray rack 371 advances to a predetermined position and the good product loading platform 33 descends to a predetermined position, the first tray rack 371 and the good product loading platform 33 overlap. At this point, the trays filled with good product material are equivalently transferred to the first tray rack 371. The first tray rack 371 retreats with the trays filled with good product material, away from the loading platform. Similarly, the second tray rack 381, the second tray rack linear module, and their coordination with the good product loading platform 33, as well as the third tray rack 391, the third tray rack linear module, and their coordination with the tray supply platform 35 are similar and will not be repeated here.

[0054] Specifically, the material transfer robot 361, the good product grabbing robot 363 and the defective product grabbing robot 364 all include a base, a lifting mechanism and a vacuum suction cup. The lifting mechanism is installed on the base and is driven by a servo motor to achieve lifting.

[0055] Specifically, the tray robot 362 includes a central support plate and a plurality of support arms extending outward from the central support plate. The outer ends of the plurality of support arms are provided with vertical connecting rods, and the bottoms of the plurality of vertical connecting rods are provided with tray suction cups.

[0056] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A screen glass blanking mechanism, characterized in that: It includes a temporary placement rack for good products, a temporary placement rack for defective products, a good loading table, a defective loading table, a tray supply table and a grabbing mechanism, the grabbing mechanism includes a movably arranged material transfer robot, a good product grabbing robot, a defective product grabbing robot and a tray robot, the material transfer robot is used to grab the good screen glass and place it on the temporary placement rack for good products, and to grab the defective screen glass and place it on the temporary placement rack for defective products, the empty tray is grabbed by the tray robot from the tray supply table and placed on the good loading table and the defective loading table, the good product grabbing robot is used to grab the good screen on the temporary placement rack for good products and place it in the tray on the good loading table, and the defective product grabbing robot is used to grab the defective screen on the temporary placement rack for defective products and place it in the tray on the defective loading table.

2. A screen glass unloading mechanism according to claim 1, characterized in that: The good product temporary placement rack and the defective product temporary placement rack are arranged side by side along the X-axis direction, the good product loading platform, the defective product loading platform and the material tray supply platform are arranged side by side along the X-axis direction and are located in front of the good product temporary placement rack and the defective product temporary placement rack, the good product loading platform and the good product temporary placement rack are arranged in front and back correspondence, and the defective product loading platform and the defective product temporary placement rack are arranged in front and back correspondence.

3. The screen glass blanking mechanism according to claim 1, characterized in that: The material grabbing mechanism also includes a first X-axis linear module, which is arranged behind the temporary placement rack for good products and the temporary placement rack for defective products. The material transfer robot is connected to the first X-axis linear module, and the material transfer robot can move along the X-axis direction under the action of the first X-axis linear module.

4. The screen glass unloading mechanism according to claim 1, characterized in that: The gripping mechanism also includes a second X-axis linear module, which is arranged in front of the good product loading platform, the defective product loading platform and the tray supply platform, the tray manipulator and the second X-axis linear module, and the tray manipulator can move along the X-axis direction under the action of the second X-axis linear module.

5. The screen glass unloading mechanism according to claim 1, characterized in that: The material grabbing mechanism also includes a Y-axis linear module, and the good product grabbing robot and the defective product grabbing robot are connected to the Y-axis linear module. The good product grabbing robot and the defective product grabbing robot can move along the Y-axis direction under the action of the Y-axis linear module.

6. A screen glass unloading mechanism according to claim 5, characterized in that: The gripping mechanism also includes an upright support frame, which is arranged between the good product loading platform and the defective product loading platform. The upright support frame includes a front column and a rear column, and the Y-axis linear module is connected to the upper ends of the front column and the rear column.

7. A screen glass unloading mechanism according to claim 6, characterized in that: The material grabbing mechanism also includes a manipulator linkage frame, which is connected to the Y-axis linear module. The good product grabbing manipulator and the defective product grabbing manipulator are connected to the manipulator linkage frame. When the manipulator linkage frame moves along the Y-axis direction under the action of the Y-axis linear module, it drives the good product grabbing manipulator and the defective product grabbing manipulator to move synchronously along the Y-axis direction.

8. The screen glass unloading mechanism according to claim 7, characterized in that: The robot linkage frame includes a transverse linkage rod, which is connected across the Y-axis linear module. The left end of the transverse linkage rod is connected to the good product grabbing robot so that the good product grabbing robot is located on the left side of the Y-axis linear module. The right end of the transverse linkage rod is connected to the defective product grabbing robot so that the defective product grabbing robot is located on the right side of the Y-axis linear module.

9. The screen glass unloading mechanism according to claim 1, characterized in that: It also includes a first lifting warehouse, a second lifting warehouse and a third lifting warehouse. The first lifting warehouse is provided with a first lifting linear module, the second lifting warehouse is provided with a second lifting linear module, and the third lifting warehouse is provided with a third lifting linear module. The good product loading platform is connected to the first lifting linear module, the defective product loading platform is connected to the second lifting linear module, and the material tray supply platform is connected to the third lifting linear module.

10. The screen glass unloading mechanism according to claim 9, characterized in that: The first lifting bin is also provided with a first material tray rack and a first material tray rack linear module, the first material tray rack linear module is arranged along the Y-axis direction, the first material tray rack is connected to the first material tray rack linear module, and can move along the Y-axis direction under the action of the first material tray rack linear module; the second lifting bin is also provided with a second material tray rack and a second material tray rack linear module, the second material tray rack linear module is arranged along the Y-axis direction, the second material tray rack is connected to the second material tray rack linear module, and can move along the Y-axis direction under the action of the second material tray rack linear module; the third lifting bin is also provided with a third material tray rack and a third material tray rack linear module, the third material tray rack linear module is arranged along the Y-axis direction, the third material tray rack is connected to the third material tray rack linear module, and can move along the Y-axis direction under the action of the third material tray rack linear module.

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