CN113086645B - Glass substrate grabbing process method and glass substrate grabbing system - Google Patents
Glass substrate grabbing process method and glass substrate grabbing system Download PDFInfo
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- CN113086645B CN113086645B CN202110455852.XA CN202110455852A CN113086645B CN 113086645 B CN113086645 B CN 113086645B CN 202110455852 A CN202110455852 A CN 202110455852A CN 113086645 B CN113086645 B CN 113086645B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/068—Stacking or destacking devices; Means for preventing damage to stacked sheets, e.g. spaces
- B65G49/069—Means for avoiding damage to stacked plate glass, e.g. by interposing paper or powder spacers in the stack
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/061—Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
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Abstract
The present disclosure relates to a glass substrate grabbing process method and a glass substrate grabbing system, wherein the process method comprises: fixedly placing the A-shaped frame on a rotary table and confirming the correct position; the paper taking robot moves from the original position to the position of the A-shaped frame, and the first adsorption device adsorbs spacing paper; when a first pressure value between the first adsorption device and the spacing paper reaches a first preset threshold value, the film taking robot moves to the position of the A-shaped frame from the original point position, and the second adsorption device adsorbs the glass substrate; when a second pressure value between the second adsorption device and the glass substrate reaches a second preset threshold value, the sheet taking robot takes down the glass substrate and moves to place the glass substrate on a conveying belt of a next procedure and then returns to the original point position, and meanwhile, the paper taking robot takes down the spacer paper and moves to place the spacer paper on the collection frame and then returns to the original point position. Through above-mentioned technical scheme, can provide the efficiency of snatching glass substrate, be favorable to improving glass substrate post-processing's efficiency.
Description
Technical Field
The disclosure relates to the technical field of glass substrate production, in particular to a glass substrate grabbing process method and a glass substrate grabbing system.
Background
In the post-processing process of the glass substrate, the glass substrate is cut according to the specification and the size required by a customer to remove redundant glass, then each edge and each corner of the cut glass substrate are ground according to the requirement of the customer, then the glass substrate is cleaned to remove dirt on the surface of the glass substrate, finally the surface and each edge of the glass substrate are detected, and the glass substrate meeting the requirement of the customer is packaged.
Before the glass substrate is post-processed, the glass substrate needs to be grabbed from the A-shaped frame for loading, which is the first process of the post-processing process, and therefore, the efficiency of the whole post-processing production line is affected by the grabbing work efficiency of the glass substrate.
Thus, it is highly desirable to improve the efficiency of grasping the glass substrate.
Disclosure of Invention
The purpose of the disclosure is to provide a glass substrate grabbing process method and a glass substrate grabbing system, so that the glass substrate grabbing efficiency is improved, and the glass substrate post-processing treatment efficiency is improved.
In order to achieve the above object, the present disclosure provides a glass substrate grabbing process method, including:
fixedly placing an A-shaped frame loaded with a glass substrate on a rotary table, and confirming that the A-shaped frame is correct in position;
the paper taking robot moves from an original point position to the position of the A-shaped frame, and a first suction device of the paper taking robot sucks the spacing paper;
when a first pressure value between the first adsorption device and the spacing paper reaches a first preset threshold value, the piece taking robot moves from the original point position to the position of the A-shaped frame, and a second adsorption device of the piece taking robot adsorbs the glass substrate placed on the A-shaped frame;
when a second pressure value between the second adsorption device and the glass substrate reaches a second preset threshold value, the piece taking robot takes the glass substrate off the A-shaped frame and moves the glass substrate to the position where a conveyor belt of a next process is located, the glass substrate is placed on the conveyor belt and then returns to the original point position, the paper taking robot takes the spacing paper off the A-shaped frame and moves the spacing paper to the position where a collection frame is located in the process that the piece taking robot takes the glass substrate off the A-shaped frame and places the glass substrate on the conveyor belt, and the spacing paper is placed on the collection frame and then returns to the original point position.
Optionally, the process method comprises: when the piece taking robot returns to the original point position, a second air source device blows air to the second adsorption device to discharge the particles in the second adsorption device.
On the basis of the technical scheme, the disclosure also provides a glass substrate grabbing process method, which comprises the following steps: fixedly placing an A-shaped frame loaded with a glass substrate on a rotary table, and confirming that the A-shaped frame is correct in position;
the paper taking robot moves from an original point position to the position of the A-shaped frame, and a first suction device of the paper taking robot sucks the spacing paper;
when a first pressure value between the first adsorption device and the spacer paper reaches a first preset threshold value, the piece taking robot moves from the original point position to the position where the A-shaped frame is located, a second adsorption device of the piece taking robot adsorbs the glass substrate placed on the A-shaped frame, then the piece taking robot takes the spacer paper off the A-shaped frame and moves to the position where the collection frame is located, and the spacer paper is placed in the collection frame and then returns to the original point position;
and when a second pressure value between the second adsorption device and the glass substrate reaches a second preset threshold value, taking the glass substrate off the A-shaped frame and moving the glass substrate to the position of a conveyor belt in the next procedure by the sheet taking robot, and returning the glass substrate to the original point position after placing the glass substrate on the conveyor belt.
On the basis of the technical scheme, the present disclosure still provides a glass substrate grabbing system, the glass substrate grabbing system includes:
a turntable for placing an A-frame loaded with a glass substrate;
the paper taking robot is provided with a first adsorption device for adsorbing spacing paper;
the piece taking robot is provided with a second adsorption device for adsorbing the glass substrate;
the first pressure detection device is used for detecting a first pressure value between the first adsorption device and the spacing paper;
the second pressure detection device is used for detecting a second pressure value between the second adsorption device and the glass substrate; and
a controller electrically connected to the paper pick-up robot, the sheet pick-up robot, the first pressure detection device and the second pressure detection device,
the controller is used for controlling the paper taking robot to move from an original point position to a position where the A-shaped frame is located and controlling the first adsorption device of the paper taking robot to adsorb partition paper;
when the first pressure value reaches a first preset threshold value, the controller is used for controlling the film taking robot to move from the original point position to reach the position of the A-shaped frame, and controlling a second adsorption device of the film taking robot to adsorb the glass substrate placed on the A-shaped frame;
when the second pressure value reaches a second preset threshold value, the controller is used for controlling the sheet taking robot to take the glass substrate off the A-shaped frame and move the glass substrate to the position where a conveyor belt of a next procedure is located, the glass substrate is placed on the conveyor belt and then returns to the original point position, in the process that the sheet taking robot takes the glass substrate off the A-shaped frame and places the glass substrate on the conveyor belt, the controller controls the sheet taking robot to take the spacing paper off the A-shaped frame and move the spacing paper to the position where a collecting frame is located, and the spacing paper is placed on the collecting frame and then returns to the original point position.
Optionally, the glass substrate gripping system comprises a first gas source device and a second gas source device, the first gas source device is connected with the first adsorption device and used for blowing or exhausting gas to the first adsorption device, and the second gas source device is connected with the second adsorption device and used for blowing or exhausting gas to the second adsorption device.
Optionally, the piece taking robot comprises a connecting rod and an adjusting cylinder, the second adsorption device is connected with the adjusting cylinder through the connecting rod, and the adjusting cylinder is used for adjusting the pressure between the second adsorption device and the glass substrate.
Optionally, the glass substrate grabbing system comprises a sensor, the sensor is electrically connected with the controller and used for detecting the position of the partition paper, and the controller is used for controlling the sheet taking robot to move to reach the position of the corresponding partition paper according to the position information detected by the sensor.
Optionally, the controller is a PLC controller.
Optionally, the paper taking robot and the film taking robot are both six-axis robots.
On the basis of the above technical scheme, this disclosure provides a glass substrate system of grabbing again, glass substrate system of grabbing includes:
a turntable for placing an A-frame loaded with a glass substrate;
the paper taking robot is provided with a first adsorption device for adsorbing spacing paper;
the piece taking robot is provided with a second adsorption device for adsorbing the glass substrate;
the first pressure detection device is used for detecting a first pressure value between the first adsorption device and the spacing paper;
the second pressure detection device is used for detecting a second pressure value between the second adsorption device and the glass substrate; and
a controller electrically connected to the paper pick-up robot, the sheet pick-up robot, the first pressure detection device and the second pressure detection device,
the controller is used for controlling the paper taking robot to move from an original point position to a position where the A-shaped frame is located and controlling the first adsorption device of the paper taking robot to adsorb partition paper;
when the first pressure value reaches a first preset threshold value, the controller is used for controlling the pick-up robot to move from the original point position to the position where the A-shaped frame is located and controlling a second adsorption device of the pick-up robot to adsorb the glass substrate placed on the A-shaped frame, and then the controller is used for controlling the pick-up robot to take the partition paper off the A-shaped frame and move to the position where the collection frame is located, and the controller is used for controlling the pick-up robot to place the partition paper in the collection frame and then return to the original point position;
when the second pressure value reaches a second preset threshold value, the controller is used for controlling the sheet taking robot to take the glass substrate off the A-shaped frame and move the glass substrate to the position where the conveyor belt of the next procedure is located, and the controller is used for controlling the sheet taking robot to place the glass substrate on the conveyor belt and then return the glass substrate to the original point position.
According to the technical scheme, in the glass substrate grabbing process method provided by the disclosure, the paper taking robot starts to adsorb the glass substrate after finishing adsorbing the spacing paper, the paper taking robot takes the glass substrate off the A-shaped frame and moves the glass substrate to the position where the conveyor belt of the next procedure is located, the glass substrate is placed on the conveyor belt and then returns to the original point position, meanwhile, the paper taking robot takes the spacing paper off the A-shaped frame and moves the spacing paper to the position where the collecting frame is located, and the spacing paper is placed on the collecting frame and then returns to the original point position. Therefore, the grabbing process has a beat of 30 seconds per piece, the efficiency of the glass substrate post-processing production line is improved, the equipment can be matched more closely and harmoniously, and equipment faults are reduced.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is a block flow diagram of a glass substrate grabbing process according to an embodiment of the present disclosure;
fig. 2 is a block flow diagram of a glass substrate grabbing process according to another embodiment of the present disclosure;
fig. 3 is a control block diagram of a glass substrate grabbing system provided by an embodiment of the present disclosure.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
In the present disclosure, the terms "first", "second", and the like, used herein, without being interpreted to the contrary, are used for distinguishing one element from another, and do not have a sequential or important meaning. Furthermore, in the following description, when referring to the figures, the same reference numbers in different figures denote the same or similar elements, unless otherwise explained. The foregoing definitions are provided to illustrate and describe the present disclosure only and should not be construed to limit the present disclosure.
According to a first aspect of embodiments of the present disclosure, referring to fig. 1, there is provided a process method of glass substrate gripping, the process method comprising:
step 101: the a-frame with the glass substrate loaded thereon was fixedly placed on the turntable, and it was confirmed that the a-frame was correctly positioned. The A-shaped frame is loaded with a plurality of glass substrates, and the spacing paper is placed between every two adjacent glass substrates so as to prevent the two adjacent glass substrates from being separated due to the fact that vacuum is formed between the two adjacent glass substrates. The turntable may be provided with a first positioning member (e.g., a positioning pin or a positioning hole), the a-frame may be provided with a second positioning member (e.g., a positioning hole or a positioning pin) engaged with the first positioning member, and in the case where the first positioning member is configured as a positioning pin, the second positioning member is configured as a positioning hole, so that after the positioning pin and the positioning hole are positioned, the position of the a-frame can be confirmed to be correct. Of course, the turntable may be marked with a reference line, and the positional relationship between the a-frame and the reference line may be confirmed to be correct, that is, the positional accuracy of the a-frame may be confirmed. In addition, the turntable may be further provided with a position detection device for detecting the position of the a-frame, and the position detection device may confirm that the position of the a-frame is correct.
Step 102: the paper pick-up robot 301 moves from the origin position to the position where the a-frame is located, and the first suction device of the paper pick-up robot 301 sucks the spacer paper. The pick robot 301 senses the position of the spacer paper through the sensor 306, and detects a first pressure value between the first adsorption device and the spacer paper through the first pressure detection device 303 (e.g., a digital pressure gauge, etc.), and when the first pressure value reaches a first preset threshold value, it is determined that the pick robot 301 adsorbs the spacer paper.
Step 103: when a first pressure value between the first adsorption device and the partition paper reaches a first preset threshold value, the sheet taking robot 302 moves from the original point position to the position of the A-shaped frame, and the second adsorption device of the sheet taking robot 302 adsorbs the glass substrate placed on the A-shaped frame. After confirming that the pick-up robot 301 has completely sucked the spacer paper, the pick-up robot 302 standing by at the origin position can be started to perform the operation of sucking the glass substrate.
Step 104: when a second pressure value between the second adsorption device and the glass substrate reaches a second preset threshold value, the sheet taking robot 302 takes the glass substrate off the A-shaped frame and moves to the position where a conveyor belt of a next procedure is located, the glass substrate is placed on the conveyor belt and then returns to the original point position, meanwhile, the paper taking robot 301 takes the spacing paper off the A-shaped frame and moves to the position where a collecting frame is located, and the spacing paper is placed on the collecting frame and then returns to the original point position. Like this, in the operation process that gets piece robot 302 and snatch the glass substrate and place the glass substrate on the conveyer belt of next process, get piece robot 301 and take off the spacer paper from A type frame and place the spacer paper on the collection frame, that is to say, get piece robot 302 and get piece robot 301 and move simultaneously, thereby, can make the beat that snatchs the process and have 30 seconds/piece, the efficiency of glass substrate post processing production line has been improved, and can make the equipment cooperation inseparabler and coordinate, the emergence of equipment trouble has been reduced. When the sheet taking robot 302 grabs the glass substrate and leaves the a-shaped frame in parallel within a preset distance range (for example, 10 cm), the running speed of the sheet taking robot 302 is 1% -3% of the maximum running speed of the sheet taking robot 302, and when the sheet taking robot 302 places the glass substrate on a conveyer belt of a next process, the running speed of the sheet taking robot 302 is 1% -3% of the maximum running speed of the sheet taking robot 302, through optimization of the action of the sheet taking robot 302, the scratching rate of the glass substrate can be reduced to 0.5%, the plate breaking rate can be reduced to 0.1%, and the scratching and breaking of the glass substrate are reduced. In addition, when the paper taking robot 301 places the partition paper on the collecting rack, the running speed of the paper taking robot 301 is 1% -3% of the maximum running speed, and the possibility that the partition paper is separated from the paper taking robot 301 and falls is reduced.
According to the technical scheme, in the glass substrate grabbing process method provided by the disclosure, the sheet taking robot 302 starts to adsorb the glass substrate after the sheet taking robot 301 finishes adsorbing the spacing paper, the sheet taking robot 302 takes the glass substrate off the A-shaped frame and moves the glass substrate to the position where the conveyor belt of the next process is located, the glass substrate is placed on the conveyor belt and then returns to the original point position, meanwhile, the sheet taking robot 301 takes the spacing paper off the A-shaped frame and moves the spacing paper to the position where the collecting frame is located, and the spacing paper is placed on the collecting frame and then returns to the original point position. Therefore, the grabbing process has a beat of 30 seconds per piece, the efficiency of the glass substrate post-processing production line is improved, equipment can be matched more closely and harmoniously, and equipment faults are reduced.
In a specific embodiment provided by the present disclosure, the process further comprises: when the piece taking robot 302 returns to the original position, the second air source device 308 blows air to the second adsorption device to discharge the particles in the second adsorption device. Therefore, the glass substrate can be prevented from being polluted by particles when being grabbed next time, and the quality of the glass substrate is improved.
According to a second aspect of embodiments of the present disclosure, referring to fig. 2, there is provided a process method of glass substrate gripping, the process method including:
step 201: the a-frame with the glass substrate loaded thereon was fixedly placed on the turntable, and it was confirmed that the a-frame was correctly positioned. The A-shaped frame is loaded with a plurality of glass substrates, and the spacing paper is placed between every two adjacent glass substrates so as to prevent the two adjacent glass substrates from being separated due to the fact that vacuum is formed between the two adjacent glass substrates. The turntable may be provided with a first positioning member (e.g., a positioning pin or a positioning hole), the a-frame may be provided with a second positioning member (e.g., a positioning hole or a positioning pin) engaged with the first positioning member, and in the case where the first positioning member is configured as a positioning pin, the second positioning member is configured as a positioning hole, so that after the positioning pin and the positioning hole are positioned, the position of the a-frame can be confirmed to be correct. Of course, the turntable may be marked with a reference line, and the positional relationship between the a-frame and the reference line may be confirmed to be correct, that is, the positional accuracy of the a-frame may be confirmed. In addition, the turntable may be further provided with a position detection device for detecting the position of the a-frame, and the position detection device may confirm that the position of the a-frame is correct.
Step 202: the pick robot 301 moves from the origin position to the position where the a-frame is located, and the first suction device of the pick robot 301 sucks the spacer paper. The paper fetching robot 301 senses the position of the spacer paper through the sensor 306, and detects a first pressure value between the first adsorption device and the spacer paper through the first pressure detection device 303 (for example, a digital pressure gauge, etc.), and when the first pressure value reaches a first preset threshold value, it is determined that the paper fetching robot 301 adsorbs the spacer paper.
Step 203: when a first pressure value between the first adsorption device and the partition paper reaches a first preset threshold value, the sheet taking robot 302 moves from the original point position to the position where the A-shaped frame is located, the second adsorption device of the sheet taking robot 302 adsorbs the glass substrate placed on the A-shaped frame, then the sheet taking robot 301 takes the partition paper off the A-shaped frame and moves to the position where the collection frame is located, and the partition paper is placed in the collection frame and then returns to the original point position. After the paper-fetching robot 301 is confirmed to complete the suction of the spacer paper, the pick-up robot 302 standing by at the origin position is started to perform the operation of sucking the glass substrate. After the pick robot 302 starts to adsorb the glass substrate, the pick robot 301 takes the spacer paper off the a-frame and moves the spacer paper to the position of the collection frame, places the spacer paper in the collection frame, and returns to the origin position. When the paper taking robot 301 places the spacing paper on the collecting rack, the running speed of the paper taking robot 301 is 1% -3% of the maximum running speed, and the possibility that the spacing paper falls off the paper taking robot 301 is reduced.
Step 204: when a second pressure value between the second adsorption device and the glass substrate reaches a second preset threshold value, the sheet taking robot 302 takes the glass substrate off the a-shaped frame and moves the glass substrate to a position where a conveyor belt of a next process is located, places the glass substrate on the conveyor belt, and then returns to the original point position. When the pick-up robot 302 detects a second pressure value between the second suction device and the glass substrate by using a second pressure detection device 304 (e.g., a digital pressure gauge, etc.), and when the second pressure value reaches a second preset threshold value, it is determined that the pick-up robot 302 has finished sucking the glass substrate. When the sheet taking robot 302 grabs the glass substrate and leaves the a-shaped frame in parallel within a preset distance range (for example, 10 cm), the running speed of the sheet taking robot 302 is 1% -3% of the maximum running speed of the sheet taking robot 302, and when the sheet taking robot 302 places the glass substrate on a conveyer belt of a next process, the running speed of the sheet taking robot 302 is 1% -3% of the maximum running speed of the sheet taking robot 302, through optimization of the action of the sheet taking robot 302, the scratching rate of the glass substrate can be reduced to 0.5%, the plate breaking rate can be reduced to 0.1%, and the scratching and breaking of the glass substrate are reduced.
Therefore, when the pick-up robot 302 starts to adsorb the glass substrate, the pick-up robot 301 removes the spacer paper from the a-frame and moves the spacer paper to the position of the collection frame, places the spacer paper in the collection frame and then returns the spacer paper to the origin position, and when the pick-up robot 302 finishes adsorbing the glass substrate, the pick-up robot 302 removes the glass substrate from the a-frame and moves the glass substrate to the position of the conveyor belt in the next step, places the glass substrate on the conveyor belt and then returns the glass substrate to the origin position. In this process, get paper robot 301 and need not wait for get piece robot 302 and accomplish to adsorb the glass substrate and can get the paper operation, can further reduce from this and accomplish and snatch a slice glass substrate required time to when getting piece robot 302 and accomplish adsorbing the glass substrate, get paper robot 301 and get piece robot 302 and all be in the running state, can improve the efficiency of snatching the glass substrate, be favorable to improving the efficiency of glass substrate post processing.
In specific embodiments provided by the present disclosure, the process further comprises: when the piece taking robot 302 returns to the original position, the second air source device 308 blows air to the second adsorption device to discharge the particles in the second adsorption device. Therefore, the glass substrate can be prevented from being polluted by particles when being grabbed next time, and the quality of the glass substrate is improved.
Fig. 3 shows a control block diagram of a glass substrate grabbing system 300 provided by an embodiment of the present disclosure.
According to a third aspect of embodiments of the present disclosure, there is provided a glass substrate gripping system 300, the glass substrate gripping system 300 comprising:
a turntable for placing an A-frame loaded with a glass substrate;
a paper-taking robot 301 provided with a first adsorption device for adsorbing the spacer paper;
the sheet taking robot 302 is provided with a second adsorption device for adsorbing the glass substrate;
a first pressure detection device 303, configured to detect a first pressure value between the first adsorption device and the separation paper;
a second pressure detection device 304 for detecting a second pressure value between the second adsorption device and the glass substrate; and
and a controller 305 electrically connected to the paper pick-up robot 301, the pick-up robot 302, the first pressure detection device 303, and the second pressure detection device 304.
Wherein the controller 305 is used for controlling the paper taking robot 301 to move from the origin position to the position of the A-shaped frame and controlling the first suction device of the paper taking robot 301 to suck the partition paper;
when the first pressure value reaches a first preset threshold value, the controller 305 is configured to control the pick-up robot 302 to move from the origin position to the position where the a-frame is located, and to control a second adsorption device of the pick-up robot 302 to adsorb the glass substrate placed on the a-frame;
when the second pressure value reaches a second preset threshold value, the controller 305 is configured to control the pick robot 302 to take the glass substrate off the a-shaped frame and move the glass substrate to the position where the conveyor belt of the next process is located, place the glass substrate on the conveyor belt and then return to the original point position, and control the pick robot 301 to take the partition paper off the a-shaped frame and move the partition paper to the position where the collection frame is located, place the partition paper on the collection frame and then return to the original point position.
Wherein the first suction device and/or the second suction device may be configured as any suitable suction member such as a suction cup, and the disclosure is not particularly limited thereto.
Through the technical scheme, when the glass substrate grabbing system 300 provided by the disclosure works, the controller 305 controls the sheet taking robot 302 to start to adsorb the glass substrate after the sheet taking robot 301 finishes adsorbing the spacing paper, then the controller 305 controls the sheet taking robot 302 to take the glass substrate off the A-shaped frame and move the glass substrate to the position where the conveyor belt of the next process is located, the glass substrate is placed on the conveyor belt and then returns to the original point position, meanwhile, the controller 305 controls the sheet taking robot 301 to take the spacing paper off the A-shaped frame and move the spacing paper to the position where the collecting frame is located, and the spacing paper is placed on the collecting frame and then returns to the original point position. Therefore, the grabbing process has a beat of 30 seconds per piece, the efficiency of the glass substrate post-processing production line is improved, the equipment can be matched more closely and harmoniously, and equipment faults are reduced.
In the embodiment provided by the present disclosure, the glass substrate gripping system 300 includes a first air source device 307 and a second air source device 308, the first air source device 307 is connected to the first adsorption device and is used for blowing or exhausting air to the first adsorption device so as to separate the spacer paper from the first adsorption device or adsorb the spacer paper by the first adsorption device, and the second air source device 308 is connected to the second adsorption device and is used for blowing or exhausting air to the second adsorption device so as to separate the glass substrate from the second adsorption device or adsorb the glass substrate by the second adsorption device. The first air source device 307 and/or the second air source device 308 may be configured as an air pump or a compressor, and are connected to the first adsorption device and the second adsorption device respectively through air paths. In the present disclosure, the first gas supply device 307 and the second gas supply device 308 may be configured as any suitable gas supply device, and the present disclosure is not particularly limited thereto. In addition, the first air supply device 307 and the second air supply device 308 are electrically connected to the controller 305, and the controller 305 controls the operation of the first air supply device 307 and the second air supply device 308.
In the specific embodiment provided by the present disclosure, the sheet taking robot 302 includes a connecting rod and an adjusting cylinder 309, the second adsorption device is connected to the adjusting cylinder 309 through the connecting rod, and the adjusting cylinder 309 is used for adjusting the pressure between the second adsorption device and the glass substrate, so that the second adsorption device and the glass substrate can be in flexible contact, and the glass substrate is prevented from being broken. One end of the connecting rod is in threaded connection with the piston rod of the adjusting cylinder 309, and the other end of the connecting rod is fixedly connected with the second adsorption device. In addition, the adjusting cylinder 309 is electrically connected to the controller 305, and the controller 305 controls the air pressure in the cylinder body of the adjusting cylinder 309 to adjust the expansion and contraction speed of the piston rod of the adjusting cylinder 309, thereby achieving flexible contact between the second adsorption device and the glass substrate.
In the embodiment provided by the present disclosure, the glass substrate grabbing system 300 comprises a sensor 306, the sensor 306 is electrically connected to the controller 305 and is used for detecting the position of the partition paper, and the controller 305 is used for controlling the sheet fetching robot 302 to move to the position of the corresponding partition paper according to the position information detected by the sensor 306.
In the specific embodiment provided by the present disclosure, the controller 305 is a PLC controller.
In a specific embodiment provided by the present disclosure, the paper fetching robot 301 and the sheet fetching robot 302 are both six-axis robots.
According to a fourth aspect of embodiments of the present disclosure, there is provided a glass substrate gripping system 300, the glass substrate gripping system 300 comprising:
a turntable for placing an A-frame loaded with a glass substrate;
a paper-taking robot 301 provided with a first adsorption device for adsorbing the spacer paper;
a pick-up robot 302 provided with a second adsorption device for adsorbing the glass substrate;
a first pressure detection device 303, configured to detect a first pressure value between the first adsorption device and the separation paper;
a second pressure detection device 304 for detecting a second pressure value between the second adsorption device and the glass substrate; and
a controller 305 electrically connected to the paper pick-up robot 301, the pick-up robot 302, the first pressure detection device 303, and the second pressure detection device 304,
the controller 305 is used for controlling the paper taking robot 301 to move from an original position to a position where the A-shaped frame is located and controlling a first suction device of the paper taking robot 301 to suck partition paper;
when the first pressure value reaches a first preset threshold value, the controller 305 is configured to control the pick-up robot 302 to move from the origin position to the position where the a-shaped frame is located, and control a second adsorption device of the pick-up robot 302 to adsorb the glass substrate placed on the a-shaped frame, and then, the controller 305 is configured to control the pick-up robot 301 to take the partition paper off the a-shaped frame and move to the position where the collection frame is located, and the controller 305 is configured to control the pick-up robot 301 to place the partition paper in the collection frame and then return to the origin position;
when the second pressure value reaches a second preset threshold value, the controller 305 is configured to control the sheet taking robot 302 to take the glass substrate off the a-frame and move the glass substrate to a position where a conveyor belt of a next process is located, and the controller 305 is configured to control the sheet taking robot 302 to place the glass substrate on the conveyor belt and then return to the origin position.
Wherein the first suction device and/or the second suction device may be configured as any suitable suction member such as a suction cup, and the disclosure is not particularly limited thereto.
Through the technical scheme, when the glass substrate grabbing system 300 provided by the disclosure works, the controller 305 controls the sheet fetching robot 302 to start to adsorb the glass substrate after the sheet fetching robot 301 finishes adsorbing the spacing paper, when the sheet fetching robot 302 starts to adsorb the glass substrate, the controller 305 controls the sheet fetching robot 301 to take the spacing paper off the A-shaped frame and move the spacing paper to the position of the collection frame, the spacing paper is placed in the collection frame and then returns to the original point position, and when the sheet fetching robot 302 finishes adsorbing the glass substrate, the controller 305 controls the sheet fetching robot 302 to take the glass substrate off the A-shaped frame and move the glass substrate to the position of the conveyor belt of the next process, and the glass substrate is placed on the conveyor belt and then returns to the original point position. In this in-process, get paper robot 301 and need not wait for to get piece robot 302 and accomplish to adsorb the glass substrate and can get the paper operation, can further reduce from this and accomplish and snatch a slice glass substrate required time to when getting piece robot 302 and accomplish and adsorb the glass substrate, get paper robot 301 and get piece robot 302 and all be in the running state, can improve the efficiency of snatching the glass substrate, be favorable to improving the efficiency of glass substrate post-processing.
In the embodiment provided by the present disclosure, the glass substrate gripping system 300 includes a first air source device 307 and a second air source device 308, the first air source device 307 is connected to the first adsorption device and is used for blowing or exhausting air to the first adsorption device so as to separate the spacer paper from the first adsorption device or adsorb the spacer paper by the first adsorption device, and the second air source device 308 is connected to the second adsorption device and is used for blowing or exhausting air to the second adsorption device so as to separate the glass substrate from the second adsorption device or adsorb the glass substrate by the second adsorption device. The first air source device 307 and/or the second air source device 308 may be configured as an air pump or a compressor, and are connected to the first adsorption device and the second adsorption device respectively through air paths. In the present disclosure, the first gas supply device 307 and the second gas supply device 308 may be configured as any suitable gas supply device, and the present disclosure is not particularly limited thereto. In addition, the first air source device 307 and the second air source device 308 are electrically connected to the controller 305, and the controller 305 controls the operation of the first air source device 307 and the second air source device 308.
In the specific embodiment provided by the present disclosure, the sheet taking robot 302 includes a connecting rod and an adjusting cylinder 309, the second adsorption device is connected to the adjusting cylinder 309 through the connecting rod, and the adjusting cylinder 309 is used for adjusting the pressure between the second adsorption device and the glass substrate, so that the second adsorption device and the glass substrate can be in flexible contact, and the glass substrate is prevented from being broken. Wherein, one end of the connecting rod is in threaded connection with the piston rod of the adjusting cylinder 309, and the other end of the connecting rod is fixedly connected with the second adsorption device. In addition, the adjusting cylinder 309 is electrically connected to the controller 305, and the controller 305 controls the air pressure in the cylinder body of the adjusting cylinder 309 to adjust the expansion and contraction speed of the piston rod of the adjusting cylinder 309, thereby achieving flexible contact between the second adsorption device and the glass substrate.
In the embodiment provided by the present disclosure, the glass substrate grabbing system 300 comprises a sensor 306, the sensor 306 is electrically connected to the controller 305 and is used for detecting the position of the partition paper, and the controller 305 is used for controlling the sheet fetching robot 302 to move to the position of the corresponding partition paper according to the position information detected by the sensor 306.
In the specific embodiment provided in the present disclosure, the controller 305 is a PLC controller.
In the specific implementation mode provided by the present disclosure, the paper taking robot 301 and the sheet taking robot 302 are both six-axis robots.
The preferred embodiments of the present disclosure are described in detail above with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details in the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure as long as it does not depart from the gist of the present disclosure.
Claims (10)
1. A glass substrate grabbing process method is characterized by comprising the following steps:
fixedly placing an A-shaped frame loaded with a glass substrate on a rotary table, and confirming that the A-shaped frame is correct in position;
the paper taking robot moves from an original point position to the position of the A-shaped frame, and a first suction device of the paper taking robot sucks the spacing paper;
when a first pressure value between the first adsorption device and the spacing paper reaches a first preset threshold value, the piece taking robot moves from the original point position to the position of the A-shaped frame, and a second adsorption device of the piece taking robot adsorbs the glass substrate placed on the A-shaped frame;
when a second pressure value between the second adsorption device and the glass substrate reaches a second preset threshold value, the piece taking robot takes the glass substrate off the A-shaped frame and moves to the position where a conveyor belt of a next procedure is located, the glass substrate is placed on the conveyor belt and then returns to the original point position, the piece taking robot takes the glass substrate off the A-shaped frame and places the glass substrate on the conveyor belt, the paper taking robot takes the spacing paper off the A-shaped frame and moves to the position where a collection frame is located, and the spacing paper is placed on the collection frame and then returns to the original point position.
2. The glass substrate grabbing process method according to claim 1, wherein the process method comprises the following steps:
when the piece taking robot returns to the original point position, a second air source device blows air to the second adsorption device to discharge the particles in the second adsorption device.
3. A glass substrate grabbing process method is characterized by comprising the following steps:
fixedly placing an A-shaped frame loaded with a glass substrate on a rotary table, and confirming that the A-shaped frame is correct in position;
the paper taking robot moves from an original point position to the position of the A-shaped frame, and a first suction device of the paper taking robot sucks the spacing paper;
when a first pressure value between the first adsorption device and the partition paper reaches a first preset threshold value, the sheet taking robot moves from the original point position to the position of the A-shaped frame, a second adsorption device of the sheet taking robot adsorbs the glass substrate placed on the A-shaped frame, then the sheet taking robot takes down the partition paper from the A-shaped frame and moves to the position of a collection frame, the partition paper is placed in the collection frame, and then the partition paper returns to the original point position;
and when a second pressure value between the second adsorption device and the glass substrate reaches a second preset threshold value, taking the glass substrate off the A-shaped frame and moving the glass substrate to the position of a conveyor belt in the next procedure by the sheet taking robot, and returning the glass substrate to the original point position after placing the glass substrate on the conveyor belt.
4. A glass substrate grabbing system, characterized in that it comprises:
a turntable for placing an A-frame loaded with a glass substrate;
the paper taking robot is provided with a first adsorption device for adsorbing spacing paper;
the piece taking robot is provided with a second adsorption device for adsorbing the glass substrate;
the first pressure detection device is used for detecting a first pressure value between the first adsorption device and the spacing paper;
the second pressure detection device is used for detecting a second pressure value between the second adsorption device and the glass substrate; and
a controller electrically connected to the paper pick-up robot, the sheet pick-up robot, the first pressure detection device and the second pressure detection device,
the controller is used for controlling the paper taking robot to move from an original point position to a position where the A-shaped frame is located and controlling the first adsorption device of the paper taking robot to adsorb the spacing paper;
when the first pressure value reaches a first preset threshold value, the controller is used for controlling the piece taking robot to move from the original point position to reach the position where the A-shaped frame is located, and is used for controlling a second adsorption device of the piece taking robot to adsorb the glass substrate placed on the A-shaped frame;
when the second pressure value reaches a second preset threshold value, the controller is used for controlling the sheet taking robot to take the glass substrate off the A-shaped frame and move to the position where a conveyor belt of the next procedure is located, the glass substrate is placed on the conveyor belt and then returns to the original point position, the sheet taking robot takes the glass substrate off the A-shaped frame and places the glass substrate on the conveyor belt, the controller controls the sheet taking robot to take the spacing paper off the A-shaped frame and move to the position where the collecting frame is located, and the spacing paper is placed on the collecting frame and then returns to the original point position.
5. The glass substrate handling system of claim 4, wherein the glass substrate handling system comprises a first gas source device connected to the first suction device and configured to blow or pump air to the first suction device, and a second gas source device connected to the second suction device and configured to blow or pump air to the second suction device.
6. The glass substrate grabbing system of claim 4, wherein the sheet taking robot comprises a connecting rod and an adjusting cylinder, the second adsorption device is connected with the adjusting cylinder through the connecting rod, and the adjusting cylinder is used for adjusting the pressure between the second adsorption device and the glass substrate.
7. The glass substrate grabbing system of claim 4, wherein the glass substrate grabbing system comprises a sensor, the sensor is electrically connected with the controller and is used for detecting the position of the partition paper, and the controller is used for controlling the sheet taking robot to move to the position of the corresponding partition paper according to the position information detected by the sensor.
8. The glass substrate capture system of claim 4, wherein the controller is a PLC controller.
9. The glass substrate capture system of claim 4, wherein the paper pick robot and the sheet pick robot are both six-axis robots.
10. A glass substrate grabbing system, characterized in that, glass substrate grabbing system includes:
a turntable for placing an A-frame loaded with a glass substrate;
the paper taking robot is provided with a first adsorption device for adsorbing spacing paper;
the piece taking robot is provided with a second adsorption device for adsorbing the glass substrate;
the first pressure detection device is used for detecting a first pressure value between the first adsorption device and the spacing paper;
the second pressure detection device is used for detecting a second pressure value between the second adsorption device and the glass substrate; and
a controller electrically connected to the paper pick-up robot, the sheet pick-up robot, the first pressure detection device and the second pressure detection device,
the controller is used for controlling the paper taking robot to move from an original point position to a position where the A-shaped frame is located and controlling the first adsorption device of the paper taking robot to adsorb partition paper;
when the first pressure value reaches a first preset threshold value, the controller is used for controlling the sheet taking robot to move from the original point position to the position where the A-shaped frame is located and controlling a second adsorption device of the sheet taking robot to adsorb the glass substrate placed on the A-shaped frame, then the controller is used for controlling the sheet taking robot to take the partition paper off the A-shaped frame and move to the position where the collection frame is located, and the controller is used for controlling the sheet taking robot to place the partition paper into the collection frame and then return to the original point position;
and when the second pressure value reaches a second preset threshold value, the controller is used for controlling the sheet taking robot to take the glass substrate off the A-shaped frame and move the glass substrate to the position of a conveyor belt in the next procedure, and the controller is used for controlling the sheet taking robot to place the glass substrate on the conveyor belt and then return to the original point position.
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| CN114701855B (en) * | 2022-01-29 | 2024-03-01 | 甘肃旭盛显示科技有限公司 | Glass plate taking and placing system and glass plate taking and placing method |
| CN114474059A (en) * | 2022-02-16 | 2022-05-13 | 郑州旭飞光电科技有限公司 | Loading robot control method, loading robot control device, storage medium, and loading robot |
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Effective date of registration: 20230414 Address after: 050035 No. 9, the Yellow River Avenue, hi tech Zone, Hebei, Shijiazhuang Patentee after: DONGXU OPTOELECTRONIC TECHNOLOGY Co.,Ltd. Address before: 835221 No.9 BINGTUAN Avenue, Southern Industrial Park, Horgos City, Yili Kazak Autonomous Prefecture, Xinjiang Uygur Autonomous Region Patentee before: Xinjiang Xinghuo Photoelectric Technology Co.,Ltd. Patentee before: TUNGHSU TECHNOLOGY GROUP Co.,Ltd. Patentee before: DONGXU OPTOELECTRONIC TECHNOLOGY Co.,Ltd. |