Full-automatic silk-screen on-line feeding and discharging rotary mechanical hand module

Abstract

The utility model discloses a full -automatic silk screen printing line unloading rotation mechanical hand module, including butt joint in the horizontal movement mechanism of silk screen printing line, set up in the elevating system of horizontal movement mechanism, set up in the rotation mechanism of elevating system, and set up in the lining board taking mechanism of rotation mechanism lower extreme. The utility model after the lining board taking mechanism catches the lining board that bears the glass product of oblique placement, in the horizontal movement process, by rotation mechanism control lining board rotation, to make the position of glass product get correction, thereby adapt to the requirement of silk screen printing procedure, this design cooperation " one board more load " craft, support to the product that has cut into shape to carry out batch silk screen printing, reduce material circulation time greatly, also avoided the precision loss that traditional craft brought, optimized the subsequent film tearing procedure simultaneously, improved production efficiency and product silk screen printing quality significantly.

Description

Technical Field

[0001] This utility model relates to flexible glass screen printing equipment, specifically, to a fully automatic screen printing line loading and unloading rotary manipulator module. Background Technology

[0002] Screen printing, as a mature printing process, plays a crucial role in the manufacturing of electronic products, particularly in the production of display panels, touchscreens, and functional glass panels. For example, printing logos, functional icons, or decorative patterns on the glass covers of consumer electronics such as mobile phones and tablets requires high-precision screen printing. As the requirements for appearance and functionality in consumer electronics become increasingly stringent, the precision and quality of screen printing directly impact the final product's pass rate and market competitiveness.

[0003] In traditional fully automated screen printing production lines, the loading and unloading of glass products are typically handled by independent robotic arms or manual labor. A typical process involves placing a single piece of glass to be processed onto a standard-sized backing plate (e.g., 550mm x 650mm), which is then fed into the screen printing machine by a conveyor belt or a simple gripping robotic arm. The screen printing machine's alignment system precisely positions the glass piece before performing the screen printing operation. After printing, a similar mechanism removes the backing plate containing the product for subsequent drying, film removal, and inspection processes.

[0004] This traditional "one-plate-one-print" or "one-plate-few-print" production model has many drawbacks and is difficult to meet the demands of modern, high-efficiency, and high-precision production:

[0005] 1. Low production efficiency: Each loading, alignment, screen printing, and unloading cycle processes only one or a few products. The reciprocating motion of the robotic arm, the alignment time of the screen printing machine, and the material flow time occupy a large portion of the production cycle. Especially for smaller products (such as smartphone glass), this model has very low equipment utilization and output per unit time (UPH).

[0006] II. Difficulty in Guaranteeing Screen Printing Accuracy: For ease of processing, traditional processes often employ a "screen printing first, then cutting" workflow. Specifically, screen printing is completed on a large-sized master glass sheet, which is then divided into individual products of the required final size through a cutting process. For example, a large piece of screen-printed glass is cut into multiple 8-inch finished products. During this process, the positioning tolerance of the cutting equipment itself, as well as the alignment error between the screen-printed pattern and the cutting baseline, accumulate. This can easily lead to the positional accuracy of the screen-printed pattern relative to the edge of the final product (i.e., "printing deviation") exceeding specifications, resulting in a large number of defective products.

[0007] Third, difficulties in subsequent processing: After screen printing, a protective film is usually applied to the glass surface and then removed after the ink has cured. Traditional lining and product placement methods make it difficult for the mechanical claws of automated film-peeling equipment to find a suitable starting point for gripping and peeling, especially when products are densely packed. This can easily damage the products or cause film peeling failure, affecting the level of automation and yield.

[0008] IV. Poor Equipment Compatibility and Flexibility: Traditional loading and unloading mechanisms have limited functionality, typically only capable of simple translation and lifting operations, making it difficult to adapt to process improvements. For example, when it is necessary to adjust the placement angle of products on the liner to optimize subsequent processes, traditional mechanisms cannot perform the corresponding rotation and posture adjustment functions, resulting in insufficient production line flexibility and difficulty in quickly responding to the needs of product iteration and process optimization.

[0009] Therefore, how to overcome the efficiency bottlenecks, precision control difficulties, and compatibility issues of subsequent processes in traditional screen printing processes, and design an automated loading and unloading equipment that can adapt to the "one plate, multiple printing" high-efficiency production mode and actively optimize the process flow has become an urgent technical problem to be solved in this field. Utility Model Content

[0010] To address the problems of low production efficiency, screen printing accuracy affected by the cutting process, and difficulty in subsequent film removal in the existing technology, this utility model provides a fully automatic screen printing line loading and unloading rotary robot module. By integrating lateral movement, lifting, rotation adjustment and precise gripping functions, it is adapted to the "one-to-many" process of large-size backing plates, thereby improving production efficiency and product quality.

[0011] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0012] A fully automatic screen printing line loading and unloading rotary robot module includes a lateral moving mechanism docked to the screen printing line, a lifting mechanism disposed on the lateral moving mechanism, a rotary adjustment mechanism disposed on the lifting mechanism, and a liner picking mechanism disposed at the lower end of the rotary adjustment mechanism. After the liner picking mechanism picks up the liner carrying the glass product, the rotary adjustment mechanism controls the liner to rotate to adjust the position of the glass product or the position of the liner, wherein the glass product is placed obliquely and flat on the liner.

[0013] Specifically, the lateral movement mechanism adopts a dual-track structure, with the product movement path between the tracks.

[0014] Specifically, the lateral movement mechanism includes a double-rail support, a lateral linear module and a lateral linear guide rail arranged parallel to the double-rail support, and a lateral support spanning the lateral linear module and the lateral linear guide rail. The lifting mechanism is mounted on the lateral support. Inductive switches for positioning the start and end positions can be installed at both ends of the lateral linear module.

[0015] Specifically, the lifting mechanism includes a lifting fixed frame vertically mounted on a horizontal moving bracket, a lifting linear module mounted on the lifting fixed frame, and a lifting bracket mounted on the movable end of the lifting linear module. The rotary adjustment mechanism is mounted on the lifting bracket, and the lifting bracket extends laterally out of the position between the double rail brackets to reserve operating space for the liner removal mechanism.

[0016] Specifically, the rotary adjustment mechanism includes a rotary module mounted on a lifting bracket, a rotary adjustment drive motor mounted on the rotary module, and a rotary adjustment mounting frame mounted on the lower movable end of the rotary module. The liner removal mechanism is mounted on the rotary adjustment mounting frame.

[0017] Specifically, the liner picking mechanism includes a gripping base plate connected to the lower end of the adjusting mechanism, two sets of linked telescopic hooks disposed on the gripping base plate, a bidirectional cylinder disposed on the gripping base plate for driving the two sets of telescopic hooks, and a limiting device disposed on the gripping base plate for controlling the liner picking position. The two sets of telescopic hooks correspond to opposite sides of the liner. When the two sets of telescopic hooks are in the retracted state, the distance between them matches the width of the liner in that direction; when they are in the extended state, the distance between them is greater than the width of the liner in that direction, so as to facilitate picking up and fixing the liner.

[0018] Specifically, the telescopic hook includes a telescopic connecting arm disposed on one movable end of a bidirectional cylinder, a telescopic synchronizing rod connected to the telescopic connecting arm, a telescopic guide rail disposed on the gripping base plate along the telescopic direction and located at the end of the telescopic synchronizing rod, a hook arm disposed on the telescopic guide rail and connected to the telescopic synchronizing rod via a guide rail slider, and a hook head disposed at the end of the hook arm. The hook head, hook arm, and telescopic guide rail are each configured with a set at both ends of the telescopic synchronizing rod, so that the two hook heads located on the same side of the liner are synchronously linked.

[0019] Specifically, the hook head is L-shaped, with one corner end used to support the liner.

[0020] Specifically, the hook head is also equipped with a suction cup for stabilizing the liner.

[0021] Specifically, the limiting device includes a limiting port opened on the gripping base plate, a limiting arm disposed on the telescopic synchronization rod and passing through the limiting port, and a buffer disposed on the gripping base plate and matching the limiting arm. The length of the limiting port matches the telescopic distance. The buffer is disposed at the end position in the retracted state to avoid excessive compression of the liner when retracted. The end position in the extended state is directly limited by the limiting port.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] (1) The design of this utility model is intended to adapt to the "one-to-many" process improvement in flexible glass screen printing production. By using a larger liner (e.g., 750mm*850mm) to carry multiple products (e.g., 12 8-inch products) at once, multiple cycles of alignment screen printing are achieved on the same liner. The robotic arm module of this utility model can efficiently and stably handle such large-sized, heavy-load liners, significantly reducing the number of times and time spent transferring materials between the loading / unloading station and the screen printing station, compressing the handling time of multiple products into one, thereby significantly improving the output per unit time and the efficiency of the overall production line.

[0024] (2) This utility model supports an advanced process flow of "cutting and shaping first, then mass screen printing" through its unique loading and unloading method. Specifically, products such as 8-inch flexible glass are pre-processed to their final usage size before being mass-produced and placed on backing plates to await screen printing. The vision system of the screen printing machine can directly align the final physical edges of the product, thereby achieving extremely high-precision printing. Since the product is a finished product after screen printing, no further cutting process is required, fundamentally eliminating the problem of substandard screen printing precision caused by the accumulation of cutting tolerances in the traditional "screen printing first, then cutting" process, and ensuring the quality and yield of the final product.

[0025] (3) This utility model uniquely combines the processes of "product oblique placement" and "robotic arm rotation correction". Before loading, the product is placed obliquely on the backing plate at a preset angle. After the robotic arm picks up the backing plate, it rotates the backing plate by an angle during the process of moving it towards the screen printing line, so that the product on the backing plate is aligned to adapt to the alignment system of the screen printing machine. The ingenuity of this rotation operation is that it makes the backing plate carrying the product present an oblique posture relative to the screen printing line or the subsequent film-tearing station. When the screen printing is completed and film tearing is required, the corner of the backing plate is exactly aligned with the mechanical claw of the film-tearing device, providing the best starting point for film tearing, which greatly improves the success rate and convenience of automated film tearing and reduces manual intervention.

[0026] (4) The lateral movement mechanism of this utility model adopts a double-track structure, which runs smoothly and has a strong load-bearing capacity; both lifting and lateral movement adopt high-precision linear modules to ensure the accuracy and repeatability of positioning. The liner picking mechanism is ingeniously designed, using a telescopic hook driven by a two-way cylinder and linked by a synchronous rod, which can realize synchronous and stable clamping and release of both sides of the liner. The configuration of the limiting device effectively avoids the impact and excessive squeezing of the liner during clamping, protecting the expensive liner and product. The design of the L-shaped hook head combined with the suction cup achieves dual fixation of the liner with both mechanical support and vacuum adsorption, ensuring the absolute stability of the liner during movement and rotation.

[0027] (5) This utility model integrates four major functions—lateral movement, vertical lifting, planar rotation, and gripping—into a single independent module, resulting in a compact structure and small footprint. This modular design allows for easy integration with existing or newly built fully automated screen printing production lines. It can be used for both the loading and unloading processes (requiring only reverse execution of program instructions), demonstrating strong versatility and flexibility, and providing an ideal solution for the automated upgrading and transformation of screen printing production lines. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of one side of the overall structure of an embodiment of the present utility model.

[0029] Figure 2 This is a schematic diagram of the overall structure on the other side of an embodiment of this utility model.

[0030] Figure 3 This is a partial structural schematic diagram of an embodiment of the present utility model.

[0031] Figure 4 This is a schematic diagram of the bottom structure of the liner removal mechanism in an embodiment of the present invention.

[0032] Figure 5 This is a schematic diagram of the hook head portion in an embodiment of the present invention. Detailed Implementation

[0033] The present invention will be further described below with reference to the accompanying drawings and embodiments. The embodiments of the present invention include, but are not limited to, the following embodiments.

[0034] Example

[0035] like Figures 1 to 5As shown, this fully automatic screen printing line loading and unloading rotary robot module includes a lateral moving mechanism 10 docked to the screen printing line, a lifting mechanism 20 mounted on the lateral moving mechanism, a rotary adjustment mechanism 30 mounted on the lifting mechanism, and a liner picking mechanism 40 located at the lower end of the rotary adjustment mechanism. After picking up the liner 1 carrying the glass product 2, the liner picking mechanism controls the rotation of the liner to adjust the position of the glass product or the liner itself. The glass product is placed obliquely and flat on the liner. The oblique orientation means that after the product is placed flat on the liner, the edge of the product is not parallel to the edge of the liner. The edge of the product and the corresponding edge of the liner can form a set angle, such as 8 degrees, 15 degrees, 30 degrees, 45 degrees, etc. This module uses a robot structure integrating multi-dimensional motion and rotation functions to cooperate with a new screen printing process of "one plate, multiple loads, oblique placement, and rotational correction," thereby systematically solving the problems of efficiency, accuracy, and subsequent processing in existing technologies. This module can be centrally controlled by a control system (such as a PLC, not shown) to coordinate the four mechanisms, namely the horizontal moving mechanism 10, the lifting mechanism 20, the rotating mechanism 30, and the liner picking mechanism 40, to complete the fully automated operation of picking up the liner from the material area, rotating and correcting it, feeding it into the screen printing line inlet, and picking up the liner from the screen printing line outlet and sending it to the receiving area.

[0036] The lateral movement mechanism 10 is configured as a stable and reliable dual-track structure, enabling a wide range of horizontal movement. Specifically, it includes a fixed dual-track support 11 spanning between the loading (or unloading) area and the material storage area of ​​the screen printing line. A horizontal linear module 12 and a horizontal linear guide rail 13 are mounted parallel to each other on the dual-track support 11. The horizontal linear module 12 is driven by a servo motor, providing precise power and displacement control; while the horizontal linear guide rail 13 serves as a driven support, working with the linear module to ensure the straightness and rigidity of the movement. A horizontal support 14 spans and is mounted on these two tracks, serving as a connecting platform and supporting the lifting mechanism 20. By controlling the servo motor, the entire horizontal support 14 can be driven to perform rapid and smooth reciprocating motion along the tracks between a preset start and end point.

[0037] The lifting mechanism 20 is responsible for the vertical picking and placing of the liner. This lifting mechanism is vertically mounted on the aforementioned transverse support 14 and includes a lifting fixed frame 21 on which another high-precision lifting linear module 22 is mounted. The movable end of the lifting linear module 22 is connected to a lifting bracket 23. The rotary adjustment mechanism 30 and its lower liner picking mechanism 40 are integrally mounted on this lifting bracket 23. Notably, the lifting bracket 23 is designed with a laterally extending structure, its operating range covering the product movement path between the lower double-rail supports 11. This design provides ample, interference-free operating space for the lower liner picking mechanism 40, allowing it to smoothly descend to the height of the liner and perform the picking or releasing action.

[0038] The rotary adjustment mechanism 30 is a key component in the aforementioned optimized screen printing process. It is mounted on the lifting bracket 23 of the lifting mechanism 20 and mainly includes a rotary module 31, such as a hollow rotary platform, driven by a rotary adjustment drive motor 32 (such as a servo motor or stepper motor). The movable end of the rotary module 31 is connected to a rotary adjustment mounting frame 33, on which the liner picking mechanism 40 is fixedly mounted. When the central control system issues a command, the rotary adjustment drive motor 32 can precisely control the rotary module 31 to rotate the entire liner picking mechanism 40, the liner it holds, and the product on the liner, at any set angle in the horizontal plane. This set angle is usually matched to the angle at which the product on the liner is placed at an angle, facilitating product positioning and subsequent alignment operations before screen printing.

[0039] The liner picking mechanism 40 is an end effector that directly contacts the liner and performs a gripping / releasing action. Its base is a gripping base plate 41, which is stably connected to the rotating mechanism 30 through the aforementioned rotating mounting bracket 33. Two sets of interlocking telescopic hooks 42 are arranged on the gripping base plate 41, which are distributed on both sides of the base plate and are used to clamp the two opposite sides of the liner respectively.

[0040] The two sets of telescopic hooks 42 are powered by a bidirectional cylinder 43 installed at the center of the gripping base plate 41. The two movable ends of the bidirectional cylinder are arranged opposite each other and can extend or retract simultaneously. It is directly or through a connector to the telescopic arms 421 of the two sets of telescopic hooks. When compressed air is introduced into the bidirectional cylinder, the piston rod extends, driving the telescopic hooks on both sides to extend outward simultaneously; when compressed air is introduced into the bidirectional cylinder in the opposite direction, the piston rod retracts, driving the telescopic hooks on both sides to retract inward simultaneously.

[0041] To ensure absolute synchronization of the two hooks on each side, a telescopic synchronizing rod is introduced into the overall structure of a set of telescopic hooks. Each set of telescopic hooks 42 includes a long, narrow telescopic synchronizing rod 422, rigidly connected to the telescopic connecting arm 421 in the middle; a hook arm 425 is connected near each end of the telescopic synchronizing rod. The back side of the hook arm 425 is mounted on the telescopic guide rail 423 configured on the gripping base plate 41 via a guide rail slider 424. In this way, when the telescopic synchronizing rod 422 is driven, the two hook arms 425 can slide parallel along their respective telescopic guide rails 423, providing a very stable four-point clamping support effect.

[0042] The end of the hook arm 425 is an L-shaped hook head 426, the horizontal part of which can support the bottom edge of the liner from bottom to top. To further enhance stability during movement and rotation, a small suction cup 427 is also integrated on each hook head 426. After the hook clamps the liner, the suction cup generates negative pressure, which can adsorb the liner onto the hook head, achieving a double guarantee of mechanical clamping and vacuum adsorption.

[0043] In addition, to achieve precise control and protect the equipment, the liner picking mechanism is equipped with a limiting device 44 to define the start and end positions of the gripping. A fixed-length limiting opening 441 is formed on the gripping base plate 41. A limiting arm 442 is fixed to the telescopic synchronization rod 422, passing through the limiting opening 441. When the hook extends outward, the limiting arm 442 eventually contacts the end of the limiting opening 441, thus achieving physical hard limiting. When the hook retracts inward to clamp the liner, to avoid excessive impact force, a buffer 443 is installed at the position where the limiting arm 442 contacts the retracted end, achieving flexible contact and ensuring just the right clamping force—firm yet without damaging the liner.

[0044] The following example, taking a complete "feeding-screen printing-unloading" cycle, illustrates the workflow of this utility model in detail.

[0045] Feeding process:

[0046] Initial state: The robotic arm module is in the standby position in the material area. On a tray in the material area, a 750mm*850mm backing plate has been placed, and 12 8-inch glass products to be screen-printed are neatly arranged on the backing plate at a preset angle (e.g., 15 degrees).

[0047] Descending and Grabbing: The control system initiates the loading procedure. First, the lifting linear module of the lifting mechanism activates, driving the lifting bracket to vertically descend the entire rotary mechanism and liner grabbing mechanism. Prior to this, the bidirectional cylinder of the liner grabbing mechanism has already actuated, extending the telescopic hook. The robotic arm descends to the preset height, ensuring the extended hook covers the outside of the liner.

[0048] Clamping and Adsorption: After descending to the designated position, the bidirectional cylinders reverse their action, driving the two sets of telescopic hooks to retract inward synchronously until the buffers on the hook heads are slightly compressed, and the L-shaped hook heads support the edge of the liner from the bottom. At the same time, the suction cups on the hook heads fix the liner in place using suction.

[0049] Lifting and Rotation Correction: After successful gripping, the lifting mechanism rises, raising the liner to a safe height. Immediately, the servo motor of the lateral movement mechanism starts, driving the entire module along the double rails towards the feeding position on the screen printing line. During this movement, the drive motor of the rotation mechanism starts simultaneously, precisely rotating the liner (along with the angled product on it) by a preset angle (e.g., 15 degrees) in the horizontal plane. After rotation, the originally angled glass product is corrected to a positive orientation, essentially parallel to the coordinate system of the screen printing machine.

[0050] Placement and Release: When the robotic arm module moves directly above the screen printing line's feed position, the lateral movement stops. The lifting mechanism descends again, smoothly placing the calibrated liner onto the screen printing line's feed conveyor belt or positioning table. Afterward, the suction cup releases, and the bidirectional cylinder actuates to extend the hook outward, releasing the liner.

[0051] Reset: After release, the lifting mechanism rises to reset, and the lateral movement mechanism returns to its original position, waiting for the next loading instruction. The loading process ends.

[0052] Screen printing and material cutting process:

[0053] The substrates entering the screen printing line are precisely aligned and screen-printed one by one by the 12 products through the internal vision alignment system of the screen printing equipment. During the process of removing the protective film, because the substrate is placed at an angle, the internal operating arm can easily and quickly cut in from the corner of the substrate to perform the film removal process, protecting the product quality. At the same time, the screen printing process is repeated on multiple substrates, which is much more efficient than traditional methods.

[0054] After screen printing, the liner is sent to the discharge position. The unloading process is basically the reverse of the loading process: the robotic arm moves above the discharge position, descends to grab the liner, rises, and moves it to the receiving area. During the movement, the adjustment mechanism can rotate the liner back to its initial angle or to a suitable angle for storage on the receiving rack, as needed. Finally, it descends and releases, completing the unloading process. The entire process is seamless, efficient, and smooth.

[0055] The above embodiments are merely preferred embodiments of this utility model and are not intended to limit the scope of protection of this utility model. Any changes made based on the design principles of this utility model, or any non-creative changes made on this basis, shall fall within the scope of protection of this utility model.

Claims

1. A fully automatic screen printing line loading and unloading rotary robotic arm module, characterized in that, It includes a lateral moving mechanism connected to the screen printing line, a lifting mechanism set on the lateral moving mechanism, a rotary adjustment mechanism set on the lifting mechanism, and a liner picking mechanism set at the lower end of the rotary adjustment mechanism. After the liner picking mechanism picks up the liner carrying the glass product, the rotary adjustment mechanism controls the liner to rotate so as to adjust the position of the glass product or the position of the liner. The glass product is placed obliquely and flat on the liner.

2. The fully automatic screen printing line loading and unloading rotary robot module according to claim 1, characterized in that, The lateral movement mechanism adopts a dual-track structure, with the product movement path between the tracks.

3. The fully automatic screen printing line loading and unloading rotary robot module according to claim 2, characterized in that, The lateral movement mechanism includes a double-rail support, a lateral linear module and a lateral linear guide rail arranged parallel to the double-rail support, and a lateral support spanning the lateral linear module and the lateral linear guide rail. The lifting mechanism is mounted on the lateral support.

4. The fully automatic screen printing line loading and unloading rotary robot module according to claim 3, characterized in that, The lifting mechanism includes a lifting fixed frame vertically mounted on a horizontal moving bracket, a lifting linear module mounted on the lifting fixed frame, and a lifting bracket mounted on the movable end of the lifting linear module. The rotary adjustment mechanism is mounted on the lifting bracket, and the lifting bracket extends laterally out of the position between the double rail brackets to reserve operating space for the liner removal mechanism.

5. The fully automatic screen printing line loading and unloading rotary robot module according to claim 4, characterized in that, The rotary adjustment mechanism includes a rotary module mounted on a lifting support, a rotary adjustment drive motor mounted on the rotary module, and a rotary adjustment mounting frame mounted on the lower movable end of the rotary module. The liner removal mechanism is mounted on the rotary adjustment mounting frame.

6. The fully automatic screen printing line loading and unloading rotary robot module according to any one of claims 1 to 5, characterized in that, The liner picking mechanism includes a gripping base plate connected to the lower end of the rotary mechanism, two sets of linked telescopic hooks set on the gripping base plate, a bidirectional cylinder set on the gripping base plate for driving the two sets of telescopic hooks, and a limiting device set on the gripping base plate for controlling the liner picking position. The two sets of telescopic hooks correspond to the opposite sides of the liner.

7. The fully automatic screen printing line loading and unloading rotary robot module according to claim 6, characterized in that, The telescopic hook includes a telescopic connecting arm disposed on one movable end of a bidirectional cylinder, a telescopic synchronizing rod connected to the telescopic connecting arm, a telescopic guide rail disposed on the gripping base plate along the telescopic direction and located at the end of the telescopic synchronizing rod, a hook arm disposed on the telescopic guide rail via a guide rail slider and connected to the telescopic synchronizing rod, and a hook head disposed at the end of the hook arm. The hook head, hook arm and telescopic guide rail are each configured with a set at both ends of the telescopic synchronizing rod, so that the two hook heads located on the same side of the liner are synchronously linked.

8. The fully automatic screen printing line loading and unloading rotary robot module according to claim 7, characterized in that, The hook head is L-shaped, with one corner end used to support the liner.

9. The fully automatic screen printing line loading and unloading rotary robot module according to claim 7, characterized in that, The hook head is also equipped with a suction cup for stabilizing the liner.

10. The fully automatic screen printing line loading and unloading rotary robot module according to claim 6, characterized in that, The limiting device includes a limiting port opened on the gripping base plate, a limiting arm set on the telescopic synchronization rod and passing through the limiting port, and a buffer set on the gripping base plate and matching the limiting arm. The length of the limiting port matches the telescopic distance. The buffer is set at the end position in the retracted state to avoid excessive compression of the liner when retracted. The end position in the extended state is directly limited by the limiting port.

Images