Substrate glass plate taking robot vacuum main standby air path control device

Abstract

The utility model provides a kind of substrate glass plate taking robot vacuum main spare air path control device, belong to substrate glass manufacturing technical field.Through setting up main spare double-path pilot valve respectively independent control corresponding main spare chuck branch, and combining vacuum monitoring and oil atomizer triplex structure etc., the reliability and security of substrate glass taking and placing process are significantly improved, when main air path fails, it can be seamlessly switched to spare air path, ensure the continuous stability of vacuum adsorption, effectively avoid substrate slide or break, while overall structure is simplified, maintenance is convenient.

Description

Technical Field

[0001] This utility model belongs to the field of substrate glass manufacturing technology, specifically relating to a vacuum main and backup gas path control device for a substrate glass picking robot. Background Technology

[0002] In the production of substrate glass, especially in high-precision production lines of G8.5 and above, robotic automated handling systems are one of the core pieces of equipment for achieving efficient and stable transfer operations. Due to the large size, heavy weight, and susceptibility to damage of substrate glass, the handling process places extremely high demands on the reliability and stability of the equipment. Among these components, the vacuum pneumatic components, as key actuators for the robot's adsorption and handling of glass, directly determine the success rate of the handling task. If the vacuum circuit malfunctions, such as a vacuum pump failure, a ruptured air pipe, or a leaking connector, the robot will be unable to properly pick up the glass, causing production line interruptions and resulting in significant production losses.

[0003] This risk is particularly prominent in the hot-end process. The hot-end production environment is characterized by high temperature, limited space, and many interference factors. If a vacuum circuit failure occurs in this stage, not only will on-site repair be difficult and time-consuming, but a large number of glass plates may also be unable to be transferred in time during the handling process, and ultimately have to be discarded. This not only wastes materials, but also affects the production rhythm and capacity stability of the entire line.

[0004] Therefore, in order to minimize unplanned downtime caused by sudden abnormalities in the vacuum circuit, it is particularly important to introduce a dual-path pneumatic control device with main and backup pneumatic circuits. Utility Model Content

[0005] The purpose of this invention is to overcome the above-mentioned shortcomings and provide a vacuum main and backup gas path control device for a substrate glass removal robot.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: This utility model provides a vacuum main and backup air circuit control device for a substrate glass removal robot, including a compressed air source, an outlet connection pipe for the compressed air source, a vacuum monitoring meter and an oil mist lubricator triplet arranged sequentially on the pipe, and the end of the pipe connected to a pilot air branch, a vacuum breaking air branch and a vacuum air source branch. The vacuum air source branch includes a third pressure regulating valve, a first pilot valve and a second pilot valve arranged sequentially. The first pilot valve and the second pilot valve control their respective suction cup branches. The first pilot valve controls several main suction cup branches and the second pilot valve controls several backup suction cup branches.

[0007] A first pressure regulating valve is installed on the pilot gas branch. The pilot gas branch is divided into three branches at the end, including a first branch, a second branch and a third branch. The first branch is connected to a first pilot valve at the end, the second branch is connected to a second pilot valve at the end, and the third branch is connected to a third pilot valve at the end.

[0008] The first and second pilot valves are located on the vacuum air source branch, and the third pilot valve is located on the vacuum rupture gas branch.

[0009] The suction cup branch includes a vacuum generator and a third one-way valve connected in sequence, and a vacuum pressure gauge and a suction cup device are installed in sequence at the rear end of the suction cup branch.

[0010] A filter is installed between the vacuum pressure gauge and the suction cup device.

[0011] The suction cup device consists of several suction cup groups, with each suction cup mounted on the suction cup device via a suction cup rod buffer unit.

[0012] The vacuum pressure gauge displays the negative pressure after the vacuum generator is working.

[0013] The vacuum breaking branch is sequentially equipped with a second pressure regulating valve, a speed regulating valve, and a third pilot valve. The rear end of the vacuum breaking gas branch is connected to the gas channel at the rear end of the third one-way valve of several suction cup branches through a second one-way valve.

[0014] The opening and closing of the vacuum rupture gas branch is controlled by the third pilot valve, and the start and stop of the suction cup device is controlled by the one-way valve.

[0015] The operation of the vacuum generator corresponding to the main suction cup branch is controlled by opening the first pilot valve and closing the second pilot valve; or the operation of the vacuum generator corresponding to the standby suction cup branch is controlled by closing the first pilot valve and opening the second pilot valve.

[0016] Compared with the prior art, the present invention has the following beneficial effects: This invention provides a vacuum main and backup air circuit control device for a substrate glass picking robot. By setting up dual pilot valves to independently control the corresponding main and backup suction cup branches, and combining vacuum monitoring and an oil mist lubricator triplet, the reliability and safety of the substrate glass picking and placing process are significantly improved. In the event of a main air circuit failure, it can seamlessly switch to the backup air circuit, ensuring continuous and stable vacuum adsorption and effectively preventing substrate slippage or breakage. At the same time, the overall structure is simplified and maintenance is convenient. Improving the reliability of the robot's vacuum air circuit system is not only an improvement in the performance of a single device, but also a crucial guarantee for the efficiency and economic benefits of the entire production line, and is of great significance for realizing the intelligent and continuous production of high-generation glass substrates. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of this utility model; The diagram shows the following labels: 1. Compressed air source; 2. Pipeline; 3. Vacuum monitoring gauge; 4. Oil mist lubricator triplet; 5. Pilot air branch; 51. First pressure regulating valve; 52. First branch; 53. Second branch; 54. Third branch; 55. First pilot valve; 56. Second pilot valve; 57. Third pilot valve; 6. Vacuum breaker air branch; 61. Second pressure regulating valve; 62. Speed ​​control valve; 63. Second check valve; 7. Vacuum air source branch; 71. Third pressure regulating valve; 72. Suction cup branch; 73. Vacuum generator; 74. Third check valve; 75. Vacuum pressure gauge; 76. Filter; 77. Suction cup device; 78. Suction cup. Detailed Implementation

[0019] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this invention. Therefore, the drawings and description are considered exemplary in nature and not restrictive.

[0020] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0021] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0022] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0023] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0024] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0025] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the present invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0026] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0027] The accompanying drawings show various structural schematic diagrams according to embodiments of the present invention. These drawings are not to scale, and some details have been enlarged and may have been omitted for clarity. The shapes of the various regions and layers shown in the drawings, as well as their relative sizes and positional relationships, are merely exemplary and may deviate from reality due to manufacturing tolerances or technical limitations. Furthermore, those skilled in the art can design regions / layers with different shapes, sizes, and relative positions as needed.

[0028] The embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0029] Example 1 A vacuum main and backup gas circuit control device for a substrate glass removal robot has the following structural components: like Figure 1 As shown, a vacuum main and backup air circuit control device for a substrate glass removal robot includes a compressed air source 1, with a pipe 2 connected to the outlet of the compressed air source 1. A vacuum monitoring gauge 3 and an oil mist lubricator triplet 4 are installed on the pipe 2, and the oil mist lubricator triplet 4 is connected to the pipe 2. Three branches are connected to the end of the pipe 2: a pilot air branch 5, a vacuum breaking air branch 6, and a vacuum air source branch 7.

[0030] Furthermore, a first pressure regulating valve 51 is installed on the pilot gas branch 5. The first pressure regulating valve 51 is used to adjust the compressed air pressure of this branch. The pilot gas branch 5 is divided into three branches at the end, namely the first branch 52, the second branch 53 and the third branch 54. The first branch 52 is connected to the first pilot valve 55 at the end, the second branch 53 is connected to the second pilot valve 56 at the end, and the third branch 54 is connected to the third pilot valve 57 at the end. The first pilot valve 55 and the second pilot valve 56 are located on the vacuum air source branch 7, and the third pilot valve 57 is located on the vacuum breaking gas branch 6.

[0031] Furthermore, a third pressure regulating valve 71, a first pilot valve 55, and a second pilot valve 56 are sequentially installed on the vacuum source branch 7. The first pilot valve 55 and the second pilot valve 56 control their respective suction cup branches 72. The first pilot valve 55 controls several main suction cup branches, and the second pilot valve 56 controls several spare suction cup branches. Each suction cup branch 72 includes a vacuum generator 73 and a third one-way valve 74 connected in sequence. A vacuum pressure gauge 75 and a filter 76 are sequentially installed at the rear end of the suction cup branch 72. A suction cup device 77 is installed at the end of the filter 76. The suction cup device 77 consists of several suction cup groups, and each suction cup 78 is installed on the suction cup device through a suction cup rod buffer unit.

[0032] Preferably, the vacuum generator 73 is able to display negative pressure after it is working by means of the vacuum pressure gauge 75.

[0033] Preferably, the third pressure regulating valve 71 is used to adjust the air source pressure of the vacuum air source branch 7, and supplies air to the vacuum generator by opening and closing the first pilot valve 55 and the second pilot valve 56, thereby controlling the negative pressure of the vacuum generator to establish a vacuum. Preferably, in this embodiment, the operation of the vacuum generators corresponding to suction cup branches 721, 722, 723, and 724 is controlled by opening the first pilot valve 55 and closing the second pilot valve 56; or the operation of the vacuum generators corresponding to suction cup branches 725, 726, 727, and 728 is controlled by closing the first pilot valve 55 and opening the second pilot valve 56.

[0034] Furthermore, a second pressure regulating valve 61, a speed regulating valve 62, and a third pilot valve 57 are sequentially installed on the vacuum breaking gas branch 6. The rear end of the vacuum breaking gas branch 6 is connected to the gas passage at the rear end of the third one-way valve 74 of several suction cup branches 72 through a second one-way valve 63. The opening and closing of the vacuum breaking gas branch 6 are controlled by the third pilot valve 57, and the start and stop of the suction cup device 77 are controlled by the second one-way valve 63.

[0035] Preferably, the flow rate of the disruptive gas source is controlled by the speed regulating valve 62.

[0036] Preferably, multiple suction cup branches 72 are provided to meet the requirements for suctioning substrate glass. A third one-way valve 74 is installed at the vacuum side outlet of both the main and backup vacuum generators 73 in the working section of the vacuum suction cup 78 to prevent the main and backup branches from interfering with each other in vacuum establishment. A vacuum pressure gauge 75 is installed in each vacuum working section to monitor the vacuum pressure of that branch in real time. A filter 76 is installed behind the suction cup 78 to prevent the vacuum suction cup from accidentally sucking in foreign matter into the gas pipeline and components, causing damage.

[0037] Example 2 A vacuum main and backup gas circuit control device for a substrate glass removal robot, the working method of which is as follows: During operation, compressed air source 1 is started to provide compressed air with stable pressure. The airflow is transported through pipeline 2 and filtered, depressurized and lubricated by oil mist lubricator triple unit 4 to ensure that the gas entering the subsequent circuit meets the requirements. Vacuum monitoring meter 3 monitors the pressure status of pipeline 2 in real time.

[0038] When it is necessary to grasp the substrate glass, the vacuum source branch 7 starts working, the vacuum breaking gas branch 6 is closed, and the compressed gas enters the corresponding suction cup branch 72 through the first pilot valve 55 or the second pilot valve 56 respectively. The compressed gas drives the respective vacuum generator 73 to work, and the high-speed airflow generates negative pressure in the vacuum generator 73. This negative pressure is transmitted to the suction cup 78 through the pipe, and the suction cup device 77 picks up the substrate glass. By forming a stable vacuum negative pressure zone between the inside of the suction cup 78 and the surface of the substrate glass, the suction cup 78 firmly adheres to the substrate glass under the action of atmospheric pressure. The robot motion mechanism then begins to move, transporting the glass to the target position.

[0039] When the substrate glass needs to be released, the vacuum source branch 7 is closed, and the vacuum breaking gas branch 6 is activated. Compressed gas enters the vacuum side outlet of the vacuum generator 73 through the third pilot valve 57, which is the vent pipe at the rear end of the third one-way valve 74. This positive pressure quickly neutralizes and destroys the residual negative pressure inside the suction cup 78, restoring the pressure balance inside and outside the suction cup. The suction cup 78 loses its vacuum suction force, and the substrate glass is reliably separated from the suction cup device 77.

[0040] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and not to limit it. Although the utility model has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of this utility model. Any modifications or equivalent substitutions that do not depart from the spirit and scope of this utility model should be covered within the protection scope of the claims of this utility model.

Claims

1. A vacuum main and backup gas circuit control device for a substrate glass removal robot, characterized in that, It includes a compressed air source (1), an outlet connection pipe (2) of the compressed air source (1), a vacuum monitoring meter (3) and an oil mist lubricator triplet (4) are installed on the pipe (2) in sequence, and the end of the pipe (2) is connected to a pilot gas branch (5), a vacuum breaking gas branch (6) and a vacuum source branch (7). The vacuum source branch (7) includes a third pressure regulating valve (71), a first pilot valve (55) and a second pilot valve (56) installed in sequence. The first pilot valve (55) and the second pilot valve (56) control their respective suction cup branches (72). The first pilot valve (55) controls several main suction cup branches and the second pilot valve (56) controls several spare suction cup branches.

2. The vacuum main and backup gas circuit control device for a substrate glass removal robot according to claim 1, characterized in that, The pilot gas branch (5) is provided with a first pressure regulating valve (51). The pilot gas branch (5) is divided into three branches at the end, including a first branch (52), a second branch (53) and a third branch (54). The first branch (52) is connected to a first pilot valve (55) at the end, the second branch (53) is connected to a second pilot valve (56) at the end, and the third branch (54) is connected to a third pilot valve (57) at the end.

3. The vacuum main and backup gas circuit control device for a substrate glass removal robot according to claim 2, characterized in that, The first pilot valve (55) and the second pilot valve (56) are located on the vacuum air source branch (7), and the third pilot valve (57) is located on the vacuum breaking gas branch (6).

4. The vacuum main and backup gas circuit control device for a substrate glass removal robot according to claim 1, characterized in that, The suction cup branch (72) includes a vacuum generator (73) and a third one-way valve (74) connected in sequence. A vacuum pressure gauge (75) and a suction cup device (77) are installed in sequence at the rear end of the suction cup branch (72).

5. The vacuum main and backup gas circuit control device for a substrate glass removal robot according to claim 4, characterized in that, A filter (76) is provided between the vacuum pressure gauge (75) and the suction cup device (77).

6. The vacuum main and backup gas circuit control device for a substrate glass removal robot according to claim 4, characterized in that, The suction cup device (77) consists of several suction cup groups, and each suction cup (78) is mounted on the suction cup device (77) through a suction cup rod buffer unit.

7. The vacuum main and backup gas circuit control device for a substrate glass removal robot according to claim 4, characterized in that, The negative pressure after the vacuum generator (73) is working is displayed by the vacuum pressure gauge (75).

8. The vacuum main and backup gas circuit control device for a substrate glass removal robot according to claim 4, characterized in that, The vacuum breaking gas branch (6) is sequentially equipped with a second pressure regulating valve (61), a speed regulating valve (62) and a third pilot valve (57). The rear end of the vacuum breaking gas branch (6) is connected to the gas channel at the rear end of the third one-way valve (74) of several suction cup branches (72) through a second one-way valve (63).

9. The vacuum main and backup gas circuit control device for a substrate glass removal robot according to claim 8, characterized in that, The opening and closing of the vacuum breaking gas branch (6) is controlled by the third pilot valve (57), and the operation start and stop of the suction cup device (77) is controlled by the second check valve (63).

10. The vacuum main and backup gas circuit control device for a substrate glass removal robot according to claim 1, characterized in that, The operation of the vacuum generator corresponding to the main suction cup branch is controlled by opening the first pilot valve (55) and closing the second pilot valve (56); or the operation of the vacuum generator corresponding to the spare suction cup branch is controlled by closing the first pilot valve (55) and opening the second pilot valve (56).

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