Automatic tube loading and unloading equipment of vacuum tube round row robot

Abstract

The utility model belongs to the technical field of glass thermal processing, and particularly discloses a vacuum tube round row robot automatic tube loading and unloading device which comprises an input conveying line, an output conveying line, a loading mechanical arm and an unloading mechanical arm, the input conveying line conveys glass tubes to be processed to a loading position of a vacuum tube round row, the loading mechanical arm clamps the glass tubes to be processed at the loading position, and the unloading mechanical arm clamps the glass tubes to be processed at the unloading position. A to-be-machined glass tube is placed on a positioning groove of the round row unit, the vacuum tube round row conducts heating, vacuumizing, exhausting and tail cutting operation on the to-be-machined glass tube, the vacuum tube round row rotates and carries the machined glass tube to a discharging position, and the discharging mechanical arm clamps the machined glass tube at the discharging position and places the machined glass tube on the output conveying line. And the output conveying line conveys the processed glass tubes to the next process, so that the mechanized and standardized operation of the round row tube loading and unloading of the vacuum tubes is realized, the stability of the production line is ensured, the potential safety hazard is eliminated, the production cost is reduced, and the production efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to glass hot working technology field, specifically disclose a vacuum tube round row robot automatic up and down pipe equipment. BACKGROUND

[0002] In the vacuum glass heat collecting tube production process, a key process is vacuum tube round row vacuumizing and tail cutting process, the specific process flow is as follows: the front process glass tube is transported by the assembly line, manually put glass tube on the round row machine group frame, the round row is in the rotating operation state, rotate glass tube to the oven heating, facilitate to the glass tube better high vacuumizing, after glass tube is vacuumized, manually cut tail and seal glass tube, finally, manually cut the glass tube after tail and send to the next process. Vacuum tube round row handles ten thousand vacuum tubes every day, manual needs to go up and down ten thousand vacuum tubes every day, ten thousand times of frequent action every day, the labor intensity is big, the labor cost is high, and there is a security risk, often appears glass tube vacuum explosion and scratches the employee, in addition, vacuum tube needs to be heated to 480 degrees when exhausting, resulting in high temperature working environment, especially in summer, often appears the employee heatstroke.

[0003] In the vacuum tube round row production process, in order to eliminate the artificial labor intensity, ensure the safety of human operation, reduce production cost, a kind of vacuum tube round row robot automatic up and down pipe equipment is developed. SUMMARY

[0004] In order to solve the problems in the background art, the utility model discloses a kind of vacuum tube round row robot automatic up and down pipe equipment, including vacuum tube round row, clamp and mechanical arm, realize the mechanization and automation of vacuum tube round row up and down pipe work, eliminate security risk, reduce production cost, improve production efficiency.

[0005] To achieve the above-mentioned purposes, the utility model adopts the following technical solutions:

[0006] A kind of vacuum tube round row robot automatic up and down pipe equipment, including vacuum tube round row for storing glass tube in rotating state, glass tube is heated, vacuumized, exhausts and tail cutting operation on the vacuum tube round row, the position of feeding and discharging on the vacuum tube round row is correspondingly provided with conveying line and mechanical arm, a plurality of clamping jaws for clamping glass tube are connected to the end of the mechanical arm through corresponding flange seat, wherein,

[0007] Conveying line includes input conveying line and output conveying line, the discharge end of input conveying line is adjacent to the feeding position of vacuum tube round row, for conveying glass tube to be processed to the feeding position of vacuum tube round row, the feeding end of output conveying line is adjacent to the discharging position of vacuum tube round row, for conveying processed glass tube to the next process;

[0008] The mechanical arm includes an upper feeding mechanical arm and a lower feeding mechanical arm, the upper feeding mechanical arm is arranged between an output conveying line and a vacuum pipe circular arrangement feeding position, and is used for clamping and placing the glass pipe to be processed conveyed by the input conveying line into the vacuum pipe circular arrangement, and the lower feeding mechanical arm is arranged between a vacuum pipe circular arrangement discharging position and an input conveying line, and is used for clamping and placing the processed glass pipe into the output conveying line.

[0009] The vacuum pipe circular arrangement includes a plurality of circular arrangement groups, the circular arrangement groups jointly form a circular ring-shaped vacuum pipe circular arrangement, a heat insulation plate is arranged between adjacent circular arrangement groups, each circular arrangement group is respectively provided with two layers of positioning grooves for placing glass pipes, the number of each layer of positioning grooves is N times of the number of clamping jaws, and N is a positive integer.

[0010] Further, the vacuum pipe circular arrangement robot automatic feeding and discharging device further includes a programmable controller PLC, a starting point sensor is arranged at the feeding and discharging position of the vacuum pipe circular arrangement, a grabbing sensor is arranged at a position adjacent to the starting point sensor and corresponding to the outer layer and the inner layer of the circular arrangement group, N grabbing sensing blocks corresponding to the grabbing sensor are arranged on each layer of positioning grooves of the outer layer and the inner layer of each circular arrangement group, and the programmable controller PLC is electrically connected or communicatively connected with the starting point sensor, the grabbing sensor, the grabbing sensing block, the mechanical arm and the clamping jaw controller.

[0011] Further, the vacuum pipe circular arrangement robot automatic feeding and discharging device, the heat insulation plates are vertically arranged on a circular arrangement seat of the vacuum pipe circular arrangement, an upper frame and a pipe supporting plate are arranged between adjacent heat insulation plates in a vertical direction, and two layers of positioning grooves are arranged on the upper frame and the pipe supporting plate in a radial direction of the circular arrangement seat, each layer of positioning grooves includes N times of pipe supporting holes of the clamping jaws, the pipe supporting holes are arranged in a circumferential direction of the circular arrangement seat, an inner diameter of the pipe supporting hole on the upper frame is slightly larger than an outer diameter of the glass pipe, an inner diameter of the pipe supporting hole on the pipe supporting plate is smaller than the outer diameter of the glass pipe, and the pipe supporting holes on the upper frame and the pipe supporting plate are correspondingly arranged.

[0012] Further, the vacuum pipe circular arrangement robot automatic feeding and discharging device, the mechanical arm includes a large arm, a torsion arm and a small arm, a lower end of the large arm is hingedly connected with a rotating seat, the rotating seat is rotationally connected with a horizontally arranged base, an upper end of the large arm is rotationally connected with one end of the torsion arm, the other end of the torsion arm is rotationally connected with one end of the small arm, the other end of the small arm is rotationally connected with one end of a swing arm capable of swinging left and right, the other end of the swing arm is rotationally connected with one end of a pitching arm capable of pitching up and down, and the other end of the pitching arm is connected through a flange seat.

[0013] Further, the vacuum tube circular arrangement robot automatic upper and lower tube equipment, the flange seat is fixedly connected with the tail end of the mechanical arm, the side of the flange seat opposite to the mechanical arm is slidably connected with the mounting plate through a guide rail, a plurality of connecting holes are formed in the mounting plate, and a plurality of clamping claws are respectively arranged in the connecting holes and driven by claw cylinders to clamp the glass tube.

[0014] Further, the vacuum tube circular arrangement robot automatic upper and lower tube equipment, a plurality of groups of clamping claws are arranged at intervals along the guide rail in the axial direction, and the clamping claws of adjacent groups are arranged at intervals in the direction perpendicular to the guide rail.

[0015] Compared with the prior art, the vacuum tube circular arrangement robot automatic upper and lower tube equipment has the following beneficial effects:

[0016] The vacuum tube circular arrangement robot automatic upper and lower tube equipment has the following beneficial effects: BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a schematic view of the overall structure of the vacuum tube circular arrangement robot automatic upper and lower tube equipment of the utility model;

[0018] Figure 2 is a schematic view of the side structure of the circular arrangement unit in the utility model;

[0019] Figure 3 is a schematic view of the local enlarged structure of the circular arrangement unit in the utility model;

[0020] Figure 4 is a schematic view of the rear structure of the clamp connecting seat in the utility model;

[0021] Figure 5 is a schematic view of the working state of the clamping claw clamping the glass tube in the utility model;

[0022] Figure 6 A three-dimensional structural diagram of the robotic arm in this utility model;

[0023] In the above diagram: 1-Vacuum tube array; 1.1-Array unit; 1.2-Upper frame; 1.3-Housing tube hole; 1.4-Outer gripping sensor; 1.5-Starting point sensor; 1.6-Insulation plate; 1.7-Inner gripping sensor; 1.8-Housing plate; 1.9-Array seat; 1.10-Gripping sensor block; 2-Clamp; 2.0-Mounting plate; 2.1-Flange seat; 2.2-Side shift cylinder; 2.3-Connecting hole; 2.4-Guide rail; 2.5-Claw cylinder; 2.6-Gripper; 3-Mechanical arm; 3.1-Base; 3.2-Rotating seat; 3.3-Telescopic cylinder; 3.4-Large arm; 3.5-First joint; 3.6-Torsion arm; 3.7-Second joint; 3.8-Forearm; 3.9-Swing arm; 3.10-Pitch arm; 4-Glass tube. Detailed Implementation

[0024] To better understand this utility model, the following embodiments further illustrate the content of this utility model, but the content of this utility model is not limited to the following embodiments.

[0025] Combined with appendix Figures 1-6 This invention details an automated loading and unloading device for vacuum tubes using a circular array robot. The device includes a rotating circular array 1 for storing glass tubes 4. The glass tubes 4 are heated, evacuated, degassed, and their tails cut on the circular array 1. The uncut vacuum tube consists of an inner and outer tube made of two layers of glass tubes. One end of the vacuum tube is sealed, while the other end has a tail tube. The circular array unit evacuates the tail end of the vacuum tube, creating a high vacuum between the inner and outer tubes. The tail tube is then cut off and sealed. A conveyor line and a robotic arm 3 are respectively positioned at the loading and unloading points on the circular array 1. It should be noted that the conveyor line uses existing technology and is not shown in the accompanying drawings. Clamps 2 are connected to the ends of the robotic arms 3 via corresponding flange seats 2.1. Each clamp 2 includes several grippers 2.6 for holding the glass tubes 4.

[0026] The conveyor line includes an input conveyor line and an output conveyor line. The discharge end of the input conveyor line is adjacent to the loading position of the vacuum tube array 1 and is used to convey the glass tube 4 to be processed to the loading position of the vacuum tube array 1. The inlet end of the output conveyor line is adjacent to the unloading position of the vacuum tube array 1 and is used to convey the processed glass tube 4 to the next process.

[0027] The robotic arm 3 includes a loading robotic arm and a unloading robotic arm. The loading robotic arm is located between the discharge end of the input conveyor line and the loading position of the vacuum tube array 1, and is used to clamp the glass tube 4 to be processed conveyed by the input conveyor line and place it into the vacuum tube array 1. The unloading robotic arm is located between the unloading position of the vacuum tube array 1 and the inlet end of the output conveyor line, and is used to clamp the processed glass tube 4 on the vacuum tube array 1 and place it into the output conveyor line.

[0028] The vacuum tube array 1 includes several array units 1.1, which together form a circular vacuum tube array 1. A heat insulation plate 1.6 is provided between adjacent array units 1.1. The heat insulation plate 1.6 serves to separate adjacent array units 1.1 and also blocks heat conduction between glass tubes on adjacent array units 1.1. Each array unit 1.1 is provided with two layers of positioning grooves for placing glass tubes 4. The positioning grooves ensure that the glass tubes are placed upright on the array unit 1.1. The number of positioning grooves in each layer is N times the number of grippers 2.6, where N is a positive integer. The robotic arm can complete the work of loading and unloading glass tubes on the array unit 1.1 by gripping N times.

[0029] During operation, the input conveyor line transports the glass tube 4 to be processed to the loading position of the vacuum tube array 1. The loading robotic arm clamps the glass tube 4 at the loading position and places it on the positioning slot of the array unit 1.1. After repeating this process several times, all the positioning slots on the array unit 1.1 are filled with glass tubes 4. The glass tubes 4 to be processed are heated, vacuumed, degassed, and have their tails cut on the vacuum tube array 1. The tail cutting operation is performed manually. The vacuum tube array 1 rotates and carries the processed glass tube 4 to the unloading position. The unloading robotic arm clamps the processed glass tube 4 at the unloading position and places it on the output conveyor line. The output conveyor line transports the processed glass tube 4 to the next process. This achieves mechanized and standardized operation of the vacuum tube array 1, ensuring the stability of the production line. It also eliminates the safety hazard of personnel being cut by glass when a vacuum tube bursts due to defective products during the loading and unloading of vacuum tubes. Furthermore, it eliminates the risk of heatstroke for manual operation during the loading and unloading of vacuum tubes in high-temperature environments, reduces production costs, and improves production efficiency.

[0030] As an optional design, the preferred automatic tube loading and unloading device for the vacuum tube circular assembly robot also includes a programmable logic controller (PLC). It should be noted that the PLC is a Siemens S7-1200 series product. Starting point sensors 1.5 are respectively installed at the loading and unloading positions of the vacuum tube circular assembly. Adjacent to the starting point sensors 1.5, corresponding to the outer and inner layers of the circular assembly unit, are outer layer gripping sensors 1.4 and inner layer gripping sensors 1.7. The positions of the starting point sensors 1.5, outer layer gripping sensors 1.4, and inner layer gripping sensors 1.7 remain unchanged. The starting point sensors 1.5, outer layer gripping sensors 1.4, and inner layer gripping sensors 1.7 are through-beam sensors. At least N gripping sensing blocks 1.10, matching the gripping sensors, are correspondingly installed on the outer and inner positioning slots of each circular assembly unit 1.1. The programmable logic controller (PLC) is electrically or communicatively connected to the starting point sensor 1.5, the outer gripping sensor 1.4, the inner gripping sensor 1.7, the gripping sensing block 1.10, and the robotic arm and gripper controller. During operation, when the insulation plate 1.6 rotates to the position of the starting point sensor 1.5, the starting point sensor 1.5 sends a work preparation signal to the robotic arm. The PLC controls the robotic arm 3 and gripper 2.6 to perform corresponding actions based on the received signal through the robotic arm and gripper 2.6 controller. When the first outer gripping sensing block 1.10 rotates to the position of the outer gripping sensor 1.4, the outer gripping sensor 1.4 sends a start signal for the robotic arm to grip the outer tube. When the first inner gripping sensing block 1.10 rotates to the position of the inner gripping sensor 1.7, the inner gripping sensor 1.7 sends a start signal for the robot to grip the inner tube.

[0031] As an optional design, the preferred automatic tube loading and unloading device for the vacuum tube array robot is described above. The insulation plate 1.6 is vertically mounted on the array base 1.9 of the vacuum tube array 1. The upper frame 1.2 and the support plate 1.8 are arranged vertically and vertically between adjacent insulation plates 1.6. The upper frame 1.2 and the support plate 1.8 are respectively arranged with inner and outer positioning grooves at radial intervals along the array base 1.9. Each positioning groove includes a support hole 1.3 that is N times the number of grippers 2.6. The support holes 1.3 are arranged circumferentially along the array base 1.9. The inner diameter of the support hole 1.3 on the upper frame 1.2 is slightly larger than the outer diameter of the glass tube 4, and the inner diameter of the support hole 1.3 on the support plate 1.8 is smaller than the outer diameter of the glass tube 4. The support holes 1.3 on the upper frame 1.2 and the support holes 1.3 on the support plate 1.8 are arranged correspondingly.

[0032] When a glass tube is clamped onto the vacuum tube array 1, the robotic arm holds the glass tube and tilts the upper end of the clamped glass tube toward the upper frame 1.2 towards the upper support hole 1.3. The tilt angle is slightly adjusted so that the upper end of the glass tube extends from below the upper frame 1.2 into the upper frame 1.2 support hole 1.3. Then, the glass tube is lifted upwards, and the lower end of the glass tube is slowly straightened. Finally, the glass tube is pulled downwards so that its lower end extends into the support hole 1.3 on the support plate 1.8. 3. After holding the lower end of the glass tube, the robotic arm stops moving, the gripper releases, and the work of loading the glass tube is completed. The robotic arm returns to its original position. When loading or unloading the glass tube from the vacuum tube array 1, the action of loading the glass tube is repeated in reverse. The robotic arm grips the glass tube, then lifts the glass tube upwards, tilts the lower end of the gripped glass tube away from the upper support hole 1.3 on the support plate 1.8, and pulls the glass tube downwards at an angle. When the upper end of the glass tube is pulled out from the upper support hole 1.3 on the upper frame 1.2, the processed glass tube is finally placed on the output conveyor line.

[0033] As an optional design, the preferred automatic tube loading and unloading device for the vacuum tube circular array robot includes a robotic arm 3 comprising a large arm 3.4, a torsion arm 3.6, and a small arm 3.8. The lower end of the large arm 3.4 is hinged to a rotating base 3.2. A telescopic cylinder 3.3 is installed between the large arm 3.4 and the rotating base 3.2. The cylinder body of the telescopic cylinder 3.3 is hinged to the rotating base 3.2, and the end of the telescopic rod of the telescopic cylinder 3.3 is hinged to the large arm 3.4. When the telescopic rod of the telescopic cylinder 3.3 extends or retracts, it can drive the large arm 3.4 to rotate relative to the rotating base 3.2 around the hinge axis, adjusting the tilt angle of the large arm 3.4. The rotating base 3.2 is rotatably connected to a horizontally positioned base 3.1. The upper end of the large arm 3.4 is connected to... One end of the torsion arm 3.6 is rotatably connected, and the other end of the torsion arm 3.6 is rotatably connected to one end of the forearm 3.8 via the second joint 3.7. The other end of the forearm 3.8 is rotatably connected to one end of the swing arm 3.9, which can swing left and right. The other end of the swing arm 3.9 is rotatably connected to one end of the pitch arm 3.10, which can pitch up and down. The other end of the pitch arm 3.10 is connected via the flange seat 2.1. It should be noted that the first joint 3.5 and the second joint 3.7 have similar structures, and the first joint 3.5 and the second joint 3.7 are existing technologies. Therefore, the structures of the first joint 3.5 and the second joint 3.7 will not be described in detail here. In this utility model, the robotic arm 3 is a six-axis robotic arm.

[0034] As an optional design, the preferred automatic tube loading and unloading device for the vacuum tube circular array robot has a flange seat 2.1 fixedly connected to the end of the robotic arm 3. The side of the flange seat 2.1 facing away from the robotic arm 3 is slidably connected to the mounting plate 2.0 via a guide rail 2.4. Driven by the lateral displacement cylinder 2.2, the mounting plate 2.0 can move left and right relative to the flange seat 2.1 along the guide rail 2.4. When the gripper 2.6 has a deviation gap when gripping the tube, the mounting plate 2.0 drives the gripper to slide to meet the deviation gap, finely adjusting the position of the gripper 2.6 to accurately grip the glass tube. The mounting plate 2.0 is provided with several connecting holes 2.3, and grippers 2.6 are respectively provided in the connecting holes 2.3. The grippers 2.6 are driven by the gripper cylinder 2.5 to grip the glass tube 4. When the gripper cylinder 2.5 is activated, the gripper 2.6 clamps the tube.

[0035] As an optional design, the preferred automatic tube loading and unloading device for the vacuum tube circular array robot has several sets of grippers 2.6 spaced apart along the axial direction of the guide rail 2.4. The grippers 2.6 in adjacent sets are staggered, and each set of grippers 2.6 includes two grippers. The two grippers 2.6 in the same set are spaced apart in a direction perpendicular to the guide rail 2.4.

[0036] The operation of installing pipes is similar to that of installing pipes. The operation of installing pipes will not be described in detail here. Instead, the working process of this utility model will be illustrated using the pipe installation process as an example, as follows:

[0037] Each circular tube unit 1.1 can store forty-eight vacuum tubes, arranged in two rows of twenty-four each. There are sixteen units in total, forming a circle. The gripping sensor blocks 1.10 on the inner and outer positioning slots of the circular tube units 1.1 provide positioning sensing signals for the robot to grip the tubes. Each unit has forty-eight tubes, with twenty-four tubes in each of the inner and outer rows. The robot grips six tubes at a time. There are at least four gripping sensor blocks 1.10 in each of the inner and outer layers. Each unit has eight gripping sensor blocks 1.10. There are a total of one hundred and twenty-eight gripping sensor blocks 1.10 for sixteen units.

[0038] During operation, the vacuum tube array 1 is constantly rotating, continuously evacuating the vacuum tubes. The rotation of the array brings the vacuum tubes to the heating area of ​​the oven, where the oven heats them, causing the array unit to evacuate them to a high vacuum. After the vacuum tube array unit 1.1 exits the oven, the vacuum tubes are manually trimmed. When the insulation plate 1.6 rotates to the position of the starting point sensor 1.5, the starting point sensor 1.5 sends a work preparation signal to the robotic arm. The programmable logic controller (PLC) controls the robotic arm 3 and gripper 2.6 to perform corresponding actions based on the received signal. The robotic arm 3 moves from its original position to the tube-grabbing preparation position of the array unit 1.1. When the first outer gripping sensor block 1.10 rotates to the position of the outer gripping sensor 1.4, the outer gripping sensor 1.4 initiates the robotic arm's gripping of the outer tube. When the first inner gripping sensor block 1.10 rotates to the position of the inner gripping sensor 1.7, the inner gripping sensor 1.7 sends a signal to initiate the robot's gripping of the inner tube. At this time, the robotic arm 3 sends a signal to the lateral displacement cylinder 2.2, which de-energizes the cylinder, allowing the gripper 2.6 to slide freely on the guide rail 2.4. Simultaneously, the robotic arm 3 moves from the tube gripping preparation position to the tube gripping position to grip the tube. When the gripper 2.6 tries to grip the vacuum tube, if there is a deviation between the gripper 2.6 and the center of the vacuum tube, the gripper 2.6 slides freely on the guide rail 2.4 to ensure that the gripper 2.6 and the tube do not collide and can flexibly grip the tube. The gripper cylinder 2.5 actuates to make the gripper 2.6 grip the tube tightly. The robotic arm 3 removes the tube from the circular assembly unit 1.1 and places it on the output conveyor chain, which then transports the tube to the next process.

[0039] During the process of robotic arm 3 gripping the tubes on the circular tube assembly 1.1, the vacuum tube assembly 1 is constantly rotating at a constant speed. Robotic arm 3 ensures that its gripping speed is synchronized with the rotation speed of the assembly while gripping the tubes. Robotic arm 3 grips the tubes on the assembly 1.1 a total of eight times, gripping six tubes each time. The gripping method is as follows: the first gripping position on the outermost layer grips the first group of six tubes; the second gripping position on the outermost layer grips the second group of six tubes; the third gripping position on the innermost layer grips the first group of six tubes; the fourth gripping position on the innermost layer grips the first group of six tubes; and so on. The robot grabs six tubes from the third group of the outer layer at the outermost gripping position, six tubes from the second group of the inner layer at the fifth inner layer gripping position, six tubes from the fourth group of the outer layer at the sixth outer layer gripping position, six tubes from the third group of the inner layer at the seventh inner layer end gripping position, and six tubes from the fourth group of the inner layer at the eighth inner layer end gripping position. At this time, the robot has completed the unloading of forty-eight tubes from the circular tube assembly 1.1. When the next circular tube assembly 1.1 comes over, its insulation plate 1.5 rotates to the starting point sensor 1.4 position, triggering the robot to grab the tube again, and repeating the above actions to complete the production.

[0040] The above description is only an application implementation of this utility model, but the protection scope of this utility model is not limited thereto and cannot be used to limit the scope of rights of this utility model. Any equivalent changes made according to the technical solution of this utility model should be included within the protection scope of this utility model.

Claims

1. A robotic automatic loading and unloading device for vacuum tube arrays, comprising a rotating vacuum tube array for storing glass tubes, wherein the glass tubes are heated, evacuated, degassed, and tail-cutting operations are performed on the vacuum tube array, characterized in that: The vacuum tube array is equipped with a conveyor line and a robotic arm at the loading and unloading positions, respectively. At the end of each robotic arm, several grippers for holding the glass tubes are connected via corresponding flange seats. The conveyor line includes an input conveyor line and an output conveyor line. The discharge end of the input conveyor line is adjacent to the loading position of the vacuum tube array and is used to convey the glass tube to be processed to the loading position of the vacuum tube array. The inlet end of the output conveyor line is adjacent to the unloading position of the vacuum tube array and is used to convey the processed glass tube to the next process. The robotic arm includes a loading robotic arm and a unloading robotic arm. The loading robotic arm is located between the discharge end of the input conveyor line and the loading position of the vacuum tube array, and is used to clamp the glass tubes to be processed conveyed by the input conveyor line and place them into the vacuum tube array. The unloading robotic arm is located between the unloading position of the vacuum tube array and the inlet end of the output conveyor line, and is used to clamp the processed glass tubes on the vacuum tube array and place them into the output conveyor line. The vacuum tube array comprises several array units, which together form a circular vacuum tube array. Insulation plates are provided between adjacent array units. Each array unit is provided with two layers of positioning grooves for placing glass tubes, and the number of positioning grooves in each layer is N times the number of grippers, where N is a positive integer.

2. The automatic tube loading and unloading device for vacuum tube circular array robots according to claim 1, characterized in that: It also includes a programmable logic controller (PLC), with starting point sensors installed at the loading and unloading positions of the vacuum tube array, and gripping sensors installed at positions adjacent to the starting point sensors corresponding to the outer and inner layers of the array unit. At least N gripping sensing blocks that match the gripping sensors are installed on the outer and inner positioning slots of each array unit. The PLC is electrically or communicatively connected to the starting point sensors, gripping sensors, gripping sensing blocks, robotic arm, and gripper controller.

3. The automatic tube loading and unloading device for vacuum tube circular array robots according to claim 2, characterized in that: The insulation plate is vertically mounted on the circular base of the vacuum tube array. An upper frame and a support plate are spaced vertically between adjacent insulation plates. Two layers of positioning grooves are arranged radially along the circular base on the upper frame and the support plate. Each positioning groove includes a support hole with a number of grippers N times the number of grippers. The support holes are spaced circumferentially along the circular base. The inner diameter of the support hole on the upper frame is slightly larger than the outer diameter of the glass tube, while the inner diameter of the support hole on the support plate is smaller than the outer diameter of the glass tube. The support holes on the upper frame and the support holes on the support plate are arranged correspondingly.

4. The automatic tube loading and unloading device for vacuum tube circular array robots according to claim 3, characterized in that: The robotic arm includes a main arm, a torsion arm, and a forearm. The lower end of the main arm is hinged to a rotating base, which is rotatably connected to a horizontally positioned base. The upper end of the main arm is rotatably connected to one end of the torsion arm, and the other end of the torsion arm is rotatably connected to one end of the forearm. The other end of the forearm is rotatably connected to one end of a swing arm that can swing left and right, and the other end of the swing arm is rotatably connected to one end of a pitch arm that can pitch up and down. The other end of the pitch arm is connected via a flange seat.

5. The automatic tube loading and unloading device for vacuum tube circular array robots according to claim 3, characterized in that: The flange seat is fixedly connected to the end of the robotic arm. The side of the flange seat facing away from the robotic arm is slidably connected to the mounting plate via a guide rail. Several connection holes are provided on the mounting plate, and grippers are respectively provided in the connection holes. The grippers are driven by a gripper cylinder to clamp and place the glass tube.

6. The automatic tube loading and unloading device for vacuum tube circular array robots according to claim 5, characterized in that: Several sets of grippers are spaced apart along the axial direction of the guide rail. The grippers in adjacent sets are staggered. Each set of grippers includes two grippers. The two grippers in the same set are spaced apart in a direction perpendicular to the guide rail.

Images