CN113911748A - Paper taking device and paper taking method - Google Patents
Paper taking device and paper taking method Download PDFInfo
- Publication number
- CN113911748A CN113911748A CN202111031394.3A CN202111031394A CN113911748A CN 113911748 A CN113911748 A CN 113911748A CN 202111031394 A CN202111031394 A CN 202111031394A CN 113911748 A CN113911748 A CN 113911748A
- Authority
- CN
- China
- Prior art keywords
- paper
- paper taking
- taking
- posture
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- B65G59/00—De-stacking of articles
- B65G59/005—De-stacking of articles by using insertions or spacers between the stacked layers
-
- 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
- B65G59/00—De-stacking of articles
- B65G59/02—De-stacking from the top of the stack
- B65G59/04—De-stacking from the top of the stack by suction or magnetic devices
Landscapes
- Manipulator (AREA)
Abstract
The application provides a paper taking device and a paper taking method, and relates to the technical field of glass substrate production. Wherein, this paper fetching device includes: a robot main body; the paper taking arm is arranged on the robot main body, and one side of the paper taking arm, which is far away from the robot main body, is provided with a plurality of paper taking suckers for sucking the upper edge of the spacing paper; the paper taking arm is provided with a first paper taking position, a second paper taking position, a third paper taking position, a first paper taking posture and a second paper taking posture; from the first paper taking position to the second paper taking position, the paper taking arm carries out n times of moving paper taking operation in the first paper taking posture; from the second paper taking position to the third paper taking position, the paper taking posture of the paper taking arm is gradually switched from the first paper taking posture to the second paper taking posture m times so as to carry out moving paper taking operation m times; wherein the sum of m and n is the number of the glass substrates.
Description
Technical Field
The application relates to the technical field of glass substrate processing, in particular to a paper taking device and a paper taking method.
Background
When TFT-LCD substrate glass is processed, a glass taking robot is needed to take the substrate glass off (unstack) an A-shaped frame (a frame with a certain inclination) and place the substrate glass on a processing conveyor belt, before the glass is taken away, a sucking disc of a paper taking robot is needed to press and suck the edge leakage part of the spacer paper below the glass, and after the glass is taken away, the paper taking robot takes away the spacer paper and places the spacer paper on a special device.
The glass substrate is on A type frame, and the interval paper is big than glass substrate size, and the exposure part is at the upside of glass substrate, but because the paper is softer, can not stand upright for a long time, places a period of time after the pile up neatly, will empty into the inclined plane, and the inclination is inconsistent, can lead to the sucking disc of paper taking robot to be high in the error rate of holding interval paper, delays production.
Disclosure of Invention
The embodiment of the application aims to provide a paper taking device and a paper taking method, and aims to solve the technical problems that in the prior art, a paper taking robot is high in error rate when taking interval paper and production is delayed.
In order to solve the above technical problem, an embodiment of the present application provides the following technical solutions:
this application first aspect provides a paper extraction device, should paper extraction device include: a robot main body;
the paper taking arm is arranged on the robot main body, and one side of the paper taking arm, which is far away from the robot main body, is provided with a plurality of paper taking suckers for sucking the upper edge of the spacing paper;
the paper taking arm is provided with a first paper taking position, a second paper taking position, a third paper taking position, a first paper taking posture and a second paper taking posture;
from the first paper taking position to the second paper taking position, the paper taking arm carries out n times of moving paper taking operation in the first paper taking posture, and n is a positive integer;
from the second paper taking position to the third paper taking position, the paper taking posture of the paper taking arm is gradually switched from the first paper taking posture to the second paper taking posture m times so as to carry out moving paper taking operation m times, wherein m is a positive integer;
wherein the sum of m and n is the number of the glass substrates.
In some modified embodiments of the first aspect of the present application, the paper-taking suction cup comprises:
the sucker rod is vertically arranged on the surface of the paper taking arm, and the first end of the sucker rod is fixed on the paper taking arm;
the sucker body is fixed at a second end, opposite to the first end, of the sucker rod.
In some modified embodiments of the first aspect of the present application, the glass substrate laminate is disposed on the support, the support includes a bottom plate and a back plate perpendicular to each other, a bottom end of the glass substrate laminate is attached to the bottom plate, and the glass substrate on the first side is attached to the back plate of the support;
the first paper taking position is located on one side far away from the back plate, the third paper taking position is located on one side close to the back plate, and the second paper taking position is located between the first paper taking position and the third paper taking position.
In some modified embodiments of the first aspect of the present application, the method further comprises:
and the controller is arranged in the robot main body and is used for controlling the position and the paper taking posture of the paper taking arm.
In some modified embodiments of the first aspect of the present application, the controller includes:
the storage module is used for storing the control program and the variable parameters;
wherein the variable parameters include: the first paper taking position, the second paper taking position, the third paper taking position, the first paper taking posture, the second paper taking posture and the number of the glass substrates.
In some modified embodiments of the first aspect of the present application, the controller is configured to adjust the control program according to the variable parameter, and control the position and the paper-fetching posture of the paper-fetching arm.
A second aspect of the present application provides a paper pickup method, including: determining a first paper taking posture, a second paper taking posture, a first paper taking position, a second paper taking position and a third paper taking position;
determining the number n of glass substrates between the first paper taking position and the second paper taking position and the number m of glass substrates between the second paper taking position and the third paper taking position;
the controller adjusts a control program to control the paper taking arm to take paper from the first paper taking position to the second paper taking position in the first paper taking posture, and from the second paper taking position to the third paper taking position in the first paper taking posture to carry out paper taking operation in the paper taking posture gradually switched to the second paper taking posture component.
In some modified embodiments of the second aspect of the present application, the paper pickup arm performs the paper pickup operation from the first paper pickup position to the second paper pickup position in the first paper pickup attitude, specifically:
and the controller controls the paper taking arm to suck the spacing paper from the first paper taking position to the second paper taking position in a first paper taking posture, and the paper taking arm moves a preset distance to suck the next spacing paper when taking one glass substrate.
In some modified embodiments of the second aspect of the present application, the predetermined distance is a sum of thicknesses of one sheet of the glass substrate and one sheet of the spacer paper.
In some modified embodiments of the second aspect of the present application, the paper pickup arm performs the paper pickup operation from the second paper pickup position to the third paper pickup position in a paper pickup posture in which the first paper pickup posture is gradually switched to the second paper pickup posture component, specifically:
the controller controls to determine the amplitude of each posture switching and position movement of the paper taking arm according to the second paper taking posture, the third paper taking stage, the second paper taking position and the third paper taking position and the number m of the glass substrates between the second paper taking position and the third paper taking position;
and switching the paper taking posture of the paper taking arm from the first paper taking posture to the second paper taking posture step by step from the second paper taking position to the third paper taking position, and moving the paper taking posture of the paper taking arm once to suck the next piece of spacing paper after taking one piece of glass substrate.
Compared with the prior art, the paper fetching device and the paper fetching method provided by the application can improve the paper fetching accuracy of the paper fetching device, especially reduce the error rate of paper fetching operation between the second paper fetching position and the third paper fetching position, and can improve the production efficiency by presetting the first paper fetching position, the second paper fetching position and the third paper fetching position, and the first paper fetching posture and the second paper fetching posture of the paper fetching arm; when the products are switched, the parameters of the posture and the position required to be debugged by the program of the robot main body are reduced, the debugging workload is greatly reduced, and the debugging time and efficiency are saved.
Drawings
The above and other objects, features and advantages of exemplary embodiments of the present application will become readily apparent from the following detailed description read in conjunction with the accompanying drawings. Several embodiments of the present application are illustrated by way of example and not by way of limitation in the figures of the accompanying drawings and in which like reference numerals refer to similar or corresponding parts and in which:
FIG. 1 schematically illustrates a schematic structural view of a glass substrate laminate;
FIG. 2 is a schematic diagram illustrating a main structure of a paper fetching device provided by an embodiment of the invention;
FIG. 3 is a schematic diagram schematically illustrating a first paper-fetching posture of a paper-fetching arm of the paper-fetching device provided by the embodiment of the invention;
FIG. 4 is a schematic diagram schematically illustrating a second pick attitude of a pick arm of the pick device provided by the embodiment of the invention;
fig. 5 is a schematic diagram schematically illustrating a paper fetching posture during switching of a paper fetching arm of a paper fetching device from a first paper fetching posture to a second paper fetching posture according to an embodiment of the present invention;
FIG. 6 is a schematic flow chart illustrating a paper fetching method according to an embodiment of the present invention;
the reference numbers illustrate:
the robot comprises a robot main body 1, a paper taking arm 2, a paper taking sucker 3, a sucker rod 301, a sucker body 302, spacing paper 4, a support 5, a bottom plate 501, a back plate 502, a glass substrate 6, a first paper taking position A, a second paper taking position B and a third paper taking position C.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which this application belongs.
Referring to fig. 1, glass substrates are stacked to form a glass substrate laminate, the glass substrate laminate comprises a plurality of glass substrates 6, a piece of spacing paper 4 is arranged between adjacent glass substrates 6, the spacing paper 4 is larger than the glass substrates 6, the upper edge part of the spacing paper is exposed from the upper side of the glass substrates 6, the glass substrate laminate is placed on an a-type bracket 5, the a-type bracket 5 comprises a bottom plate 501 and a back plate 502 which are perpendicular to each other, the bottom of the glass substrate laminate is attached to the bottom plate 501 of the a-type bracket 5, and the innermost glass substrate 6 is attached to the back plate 502 of the a-type bracket 5; because 4 paper of interval paper are softer, can not stand for a long time, place a period of time after the pile up neatly, the inclined plane will be emptyd to the exposed part of interval paper 4, and the inclination is inconsistent, specifically does: referring to fig. 1, more of the spacers 4 are inclined away from the back plate 502 of the a-type bracket 5, less of the spacers 4 are inclined toward the back plate 502 of the a-type bracket 5, and 30 sheets of left and right spacers 4 near the back plate 502 of the a-type bracket 5 are not substantially inclined. When the paper taking robot sucks the spacing paper 4, the surface of the sucking disc needs to be ensured to be parallel to and attached to the paper surface, therefore, when each stack of 6 stacked glass substrates is unstacked, the paper taking robot usually needs to memorize and store a plurality of postures in advance, and the postures are judged and called back and forth by a program, so that the workload of debugging the robot is very large, when the types of products are changed, the time and the labor are wasted during debugging again, the paper taking error rate is high due to improper debugging, and the production is delayed.
Example one
Referring to fig. 1 to 5, in one embodiment of the present invention, a paper extraction device is provided for unstacking a glass substrate laminate, the glass substrate laminate including: a plurality of glass substrates 6 stacked one on another and a spacer paper 4 disposed between adjacent glass substrates 6, wherein an upper edge portion of the spacer paper 4 is exposed from an upper edge portion of the glass substrates 6, and the paper pickup device includes: a robot main body 1; the paper taking arm 2 is arranged on the robot main body 1, and a plurality of paper taking suckers 3 are arranged on one side of the paper taking arm, which is far away from the robot main body 1, and are used for sucking the upper edges of the spacing paper 4; the paper taking arm 2 is provided with a first paper taking position A, a second paper taking position B, a third paper taking position C, a first paper taking posture and a second paper taking posture; from the first paper taking position A to the second paper taking position B, the paper taking arm 2 carries out n times of moving paper taking operations in the first paper taking posture, and n is a positive integer; from the second paper taking position B to the third paper taking position C, the paper taking posture of the paper taking arm 2 is gradually switched from the first paper taking posture to the second paper taking posture m times so as to carry out moving paper taking operation m times, wherein m is a positive integer; wherein the sum of m and n is the number of the glass substrates 6.
Specifically, the paper taking device provided by the embodiment is applied to paper taking operation when the stack of the glass substrate 6 is unstacked, and can be operated together with a glass taking robot; the structure of the paper taking device mainly comprises: the robot comprises a robot main body 1 and a paper taking arm 2 arranged on the robot main body 1, wherein the robot main body 1 is used for controlling and adjusting a paper taking position and a paper taking posture of the paper taking arm 2, and the paper taking posture refers to an angle of the paper taking arm; one side of the paper taking arm 2 departing from the robot main body 1 is provided with a plurality of paper taking suckers 3, and the paper taking suckers 3 are used for being attached to and adsorbing the exposed upper edge of the partition paper 4. In order to reduce the workload of debugging the paper fetching device and reduce the error rate of the paper fetching device, in the specific implementation, three paper fetching positions of the paper fetching arm 2 are set, referring to fig. 1, which are a first paper fetching position a, a second paper fetching position B and a third paper fetching position C, respectively, wherein the first paper fetching position a is located at the end farthest from the back plate 502 of the a-type bracket 5, the third paper fetching position C is close to the back plate 502, the second paper fetching position B is located between the first paper fetching position a and the third paper fetching position C, the inclination angle of the exposed part of the spacer paper 4 between the first paper fetching position a and the second paper fetching position B is larger, it should be noted that even if the exposed part of the spacer paper 4 is not inclined naturally, the spacer paper 4 is inclined after being pressed by the paper sucking suction cup 3, and the spacer paper 4 between the second paper fetching position B and the third paper fetching position C, the inclined angle is gradually reduced due to the support of the back plate 502, and the spacing paper 4 at the third paper taking position C is basically parallel to the back plate 502 of the A-type bracket 5; thus, two paper-taking postures of the paper-taking arm 2 are set, which are respectively: the first paper-fetching posture and the second paper-fetching posture refer to attached drawings 3 and 4, and the angles of the paper-fetching suckers 3 contacting and sucking the spacing paper 4 are different when the paper-fetching arm 2 is in the first paper-fetching posture and the second paper-fetching posture. Based on different inclination states of the paper separation 4 at different paper taking positions, when the paper taking arm 2 carries out paper taking operation from a first paper taking position A to a second paper taking position B, the paper taking posture of the paper taking arm 2 is always kept at the first paper taking posture, at the moment, the working surface of the paper taking sucker 3 is basically parallel to the inclined surface of the exposed part of the paper separation 4, when the exposed part of the paper separation 4 is not inclined, when the paper taking arm 2 moves to the paper taking position, the paper separation 4 can be pressed to the inclined state through the paper taking sucker 3, the working surface of the paper taking sucker 3 and the paper separation 4 are kept in a basically parallel state, certain pressure is applied to enable the paper taking sucker 3 to suck the paper separation 4, when the next paper separation 4 is sucked, the paper taking posture is not changed, the position moves for a preset distance until the paper separation 4 between the first paper taking position A and the second paper taking position B is taken, the preset distance here is the sum of the thicknesses of one glass substrate 6 and one piece of spacer paper 4; when the paper taking arm 2 carries out paper taking operation from the second paper taking position B to the third paper taking position C, the paper taking posture of the paper taking arm 2 starts from the first paper taking posture, the paper taking posture of the paper taking arm 2 is switched once every time a piece of partition paper 4 is taken, and the preset distance is moved simultaneously until the paper taking posture is switched to the second paper taking posture and the partition paper 4 of the third paper taking position C is taken, and the change range of the paper taking posture and the paper taking position of the paper taking arm 2 is determined by the paper taking posture and the paper taking position parameters of the paper taking arm 2 at the second paper taking position B and the third paper taking position C and the number m of the glass substrates 6 between the second paper taking position B and the third paper taking position C during the period, so that when the product type is changed, the parameters can be just debugged, the posture and the position do not need to be debugged and memorized again, and the work of the paper taking device is simplified; the switching of the paper pickup posture and the change of the paper pickup position of the paper pickup arm 2 described above can be controlled by a program of the robot main body 1, which will be described in detail later.
According to the above list, the embodiment of the present invention provides a paper fetching device, which can improve the paper fetching accuracy of the paper fetching device, especially reduce the error rate of the paper fetching operation between the second paper fetching position B and the third paper fetching position C, and improve the production efficiency by presetting the first paper fetching position a, the second paper fetching position B and the third paper fetching position C, and the first paper fetching posture and the second paper fetching posture of the paper fetching arm 2; when the products are switched, the parameters of the posture and the position required to be debugged by the program of the robot main body 1 are reduced, the debugging workload is greatly reduced, and the debugging time and efficiency are saved.
Further, referring to fig. 2, in an implementation, the structure of the paper-taking suction cup 3 includes: the paper taking robot comprises a sucker rod 301 and a sucker body 302, wherein the sucker rod 301 is vertically arranged on the surface of the paper taking arm 2 departing from the robot main body 1, and the first end of the sucker rod is fixed on the paper taking arm 2; the sucker body 302 is fixed at the second end of the sucker rod 301, and the side of the sucker rod, which is far away from the sucker, is a working surface; the suction cup rod 301 may have a certain elasticity, and when the suction cup body 302 contacts the partition paper 4 and applies a certain pressure, the suction cup body 302 may generate a certain displacement along the axial direction of the suction cup rod 301 relative to the paper-fetching arm 2 under the elastic force of the suction cup rod 301, and the displacement may be about 20 mm.
Further, in the specific implementation, a controller is arranged inside the robot main body 1 and used for controlling the position and the paper taking posture of the paper taking arm 2; the storage module of the controller is used for storing a control program and variable parameters, wherein the variable parameters refer to the variable parameters which need to be debugged again when the type of a product is changed, and the variable parameters comprise: the number of the glass substrates 6 can be divided into two parameters, namely: the number n of glass substrates 6 between the first paper pickup position a and the second paper pickup position B, and the number m of glass substrates 6 between the second paper pickup position B and the third paper pickup position C; for example: the posture and position parameters of the first paper taking posture of the paper taking arm 2 at the second paper taking position B are set as X2、Y2、Z2、RX2、RY2、RZ2The attitude and position parameters of the second paper taking attitude of the paper taking arm 2 at the third paper taking position C are X3、Y3、Z3、RX3、RY3、RZ3The number of glasses between the point B of the second pick-up position and the point C of the third pick-up position is m, the robot internal variable D7 is set to m, and the variable D1 is set to (X)2-X3)/D7，D2＝(Y2-Y3)/D7，D3＝(Z2-Z3)/D7，D4＝(RX2-RX3)/D7，D5＝(RY2-RY3)/D7，D6＝(RZ2-RZ3) D7, starting from the second pick-up position B, each time one glass substrate 6 is picked up, the attitude and position parameters X, Y, Z, R of the pick-up arm 2X、RY、RZD1, D2, D3, D4, D5 and D6 are added respectively, the change of the variable parameters is completed by calling a subprogram by a control program of a storage module of the controller, after the change of the variable parameters is completed, the robot main body 1 walks to a new position point, and the posture and the position of the paper taking arm 2 are correspondingly changed.
Example two
Referring to fig. 6, an embodiment of the present invention provides a paper fetching method using the paper fetching apparatus, where the paper fetching method includes:
step 1: determining a first paper taking posture, a second paper taking posture, a first paper taking position A, a second paper taking position B and a third paper taking position C;
specifically, first, the position parameter and the posture parameter of the paper taking arm 2 need to be determined, where the position parameter specifically includes: first get paper position A, second and get paper position B and third and get paper position C, the attitude parameter specifically includes: the first and second pickup positions, and the second pickup position B and the posture parameters described above may be determined experimentally, for example: referring to fig. 1, the operator can press the spacer paper 4 from the first paper pickup position a to the second paper pickup position B in a stepwise manner from a posture substantially parallel to the upper surface of the glass substrate 6 (the position where the spacer paper 4 can be pressed to a state substantially in contact with the upper surface of the glass substrate 6), and when the working surface of the suction cup body 302 and the spacer paper 4 cannot be kept substantially parallel, the position is taken as the second paper pickup position B, and the second paper pickup posture is substantially parallel to the back plate 502 of the a-type holder 5.
Step 2: determining the number n of glass substrates 6 between the first paper taking position A and the second paper taking position B, and the number m of glass substrates 6 between the second paper taking position B and the third paper taking position C;
specifically, after determining the total number of the glass substrates 6, and the position parameter and the posture parameter of the pick-up arm 2, the number n of the glass substrates 6 between the first pick-up position a and the second pick-up position B, and the number m, and n of the glass substrates 6 between the second pick-up position B and the third pick-up position C may be equal or unequal according to the three position parameters of the pick-up arm 2, which is specifically determined by actual conditions and test results.
And step 3: the controller adjusts a control program to control the paper taking arm 2 to take paper from the first paper taking position A to the second paper taking position B in the first paper taking posture, and from the second paper taking position B to the third paper taking position C in the first paper taking posture to carry out paper taking operation in the paper taking posture gradually switched from the second paper taking posture component.
Specifically, from a first paper taking position A to a second paper taking position B, the controller controls the paper taking arm 2 to suck the spacing paper 4 in a first paper taking posture, and when the glass robot takes off one glass substrate 6, the paper taking arm 2 moves a preset distance to suck the next spacing paper 4 until the paper taking arm 2 moves to the second paper taking position B and finishes taking n spacing papers 4, and meanwhile, the preset distance is the sum of the thicknesses of one glass substrate 6 and one spacing paper 4.
Specifically, after the operator inputs the variable parameters, the control program of the controller calls a subroutine to determine the range of posture switching and position switching of the paper taking arm 2 from the second paper taking position B to the third paper taking position C each time, so that when the paper taking operation from the second paper taking position B to the third paper taking position C is performed, the paper taking arm 2 performs gradual posture switching and position switching from the first paper taking posture, the paper taking postures of the paper taking arm 2 are switched sequentially and once to suck the next piece of partition paper 4 until the paper taking arm 2 moves to the third paper taking position C in the third paper taking posture and finishes taking m pieces of partition paper 4.
It should be noted that in the description of the present specification, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A paper taking device is applied to unstacking operation of a glass substrate laminated body, and the glass substrate laminated body comprises: the glass substrate that the multi-disc range upon range of setting and set up in adjacent the interval paper between the glass substrate, the last border portion of interval paper shows from the top edge of glass substrate, its characterized in that, get the paper device and include:
a robot main body;
the paper taking arm is arranged on the robot main body, and one side of the paper taking arm, which is far away from the robot main body, is provided with a plurality of paper taking suckers for sucking the upper edge of the spacing paper;
the paper taking arm is provided with a first paper taking position, a second paper taking position, a third paper taking position, a first paper taking posture and a second paper taking posture;
from the first paper taking position to the second paper taking position, the paper taking arm carries out n times of moving paper taking operation in the first paper taking posture, and n is a positive integer;
from the second paper taking position to the third paper taking position, the paper taking posture of the paper taking arm is gradually switched from the first paper taking posture to the second paper taking posture m times so as to carry out moving paper taking operation m times, wherein m is a positive integer;
wherein the sum of m and n is the number of the glass substrates.
2. The paper extraction apparatus of claim 1,
get paper sucking disc includes:
the sucker rod is vertically arranged on the surface of the paper taking arm, and the first end of the sucker rod is fixed on the paper taking arm;
the sucker body is fixed at a second end, opposite to the first end, of the sucker rod.
3. The paper extraction apparatus of claim 1,
the glass substrate laminated body is arranged on the support, the support comprises a bottom plate and a back plate which are perpendicular to each other, the bottom end of the glass substrate laminated body is attached to the bottom plate, and the glass substrate positioned on the first side is attached to the back plate of the support;
the first paper taking position is located on one side far away from the back plate, the third paper taking position is located on one side close to the back plate, and the second paper taking position is located between the first paper taking position and the third paper taking position.
4. The paper extraction apparatus of claim 3, further comprising:
and the controller is arranged in the robot main body and is used for controlling the position and the paper taking posture of the paper taking arm.
5. The paper extraction apparatus of claim 4,
the controller includes:
the storage module is used for storing the control program and the variable parameters;
wherein the variable parameters include: the first paper taking position, the second paper taking position, the third paper taking position, the first paper taking posture, the second paper taking posture and the number of the glass substrates.
6. The paper extraction apparatus of claim 5,
the controller is used for adjusting the control program according to the variable parameter and controlling the position and the paper taking posture of the paper taking arm.
7. A paper pickup method applied to the paper pickup apparatus according to any one of claims 1 to 6, comprising:
determining a first paper taking posture, a second paper taking posture, a first paper taking position, a second paper taking position and a third paper taking position;
determining the number n of glass substrates between the first paper taking position and the second paper taking position and the number m of glass substrates between the second paper taking position and the third paper taking position;
the controller adjusts a control program to control the paper taking arm to take paper from the first paper taking position to the second paper taking position in the first paper taking posture, and from the second paper taking position to the third paper taking position in the first paper taking posture to carry out paper taking operation in the paper taking posture gradually switched to the second paper taking posture component.
8. The paper-taking method according to claim 7,
the paper taking arm carries out paper taking operation from the first paper taking position to the second paper taking position in the first paper taking posture, and the operation specifically comprises the following steps:
and the controller controls the paper taking arm to suck the spacing paper from the first paper taking position to the second paper taking position in a first paper taking posture, and the paper taking arm moves a preset distance to suck the next spacing paper when taking one glass substrate.
9. The paper-taking method according to claim 8,
the preset distance is the sum of the thicknesses of one glass substrate and one piece of spacing paper.
10. The paper-taking method according to claim 8,
the paper taking arm carries out paper taking operation from the second paper taking position to the third paper taking position according to the paper taking posture gradually switched from the first paper taking posture to the second paper taking posture component, and the paper taking operation specifically comprises the following steps:
the controller controls to determine the amplitude of each posture switching and position movement of the paper taking arm according to the second paper taking posture, the third paper taking stage, the second paper taking position and the third paper taking position and the number m of the glass substrates between the second paper taking position and the third paper taking position;
and switching the paper taking posture of the paper taking arm from the first paper taking posture to the second paper taking posture step by step from the second paper taking position to the third paper taking position, and moving the paper taking posture of the paper taking arm once to suck the next piece of spacing paper after taking one piece of glass substrate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111031394.3A CN113911748A (en) | 2021-09-03 | 2021-09-03 | Paper taking device and paper taking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111031394.3A CN113911748A (en) | 2021-09-03 | 2021-09-03 | Paper taking device and paper taking method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113911748A true CN113911748A (en) | 2022-01-11 |
Family
ID=79233999
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111031394.3A Pending CN113911748A (en) | 2021-09-03 | 2021-09-03 | Paper taking device and paper taking method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113911748A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115818250A (en) * | 2022-12-07 | 2023-03-21 | 河北光兴半导体技术有限公司 | Glass feeding system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2149521A1 (en) * | 2008-07-29 | 2010-02-03 | Voith Patent GmbH | Device and method for lifting a front cover from a stack of front covers |
| JP2010285270A (en) * | 2009-06-15 | 2010-12-24 | Sharp Corp | Carrying system |
| CN103072834A (en) * | 2012-12-28 | 2013-05-01 | 东旭集团有限公司 | Three-axis adjusting device for spacing paper taking machine and adjusting method thereof |
| CN108328024A (en) * | 2018-02-09 | 2018-07-27 | 武汉华星光电技术有限公司 | Paper extraction unit |
| CN208135056U (en) * | 2018-04-12 | 2018-11-23 | 芜湖东旭光电科技有限公司 | Feeding spaced papers support device |
| CN111037596A (en) * | 2019-12-13 | 2020-04-21 | 彩虹（合肥）液晶玻璃有限公司 | Paper taking robot arm, paper taking robot and paper conveying method thereof |
-
2021
- 2021-09-03 CN CN202111031394.3A patent/CN113911748A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2149521A1 (en) * | 2008-07-29 | 2010-02-03 | Voith Patent GmbH | Device and method for lifting a front cover from a stack of front covers |
| JP2010285270A (en) * | 2009-06-15 | 2010-12-24 | Sharp Corp | Carrying system |
| CN103072834A (en) * | 2012-12-28 | 2013-05-01 | 东旭集团有限公司 | Three-axis adjusting device for spacing paper taking machine and adjusting method thereof |
| CN108328024A (en) * | 2018-02-09 | 2018-07-27 | 武汉华星光电技术有限公司 | Paper extraction unit |
| CN208135056U (en) * | 2018-04-12 | 2018-11-23 | 芜湖东旭光电科技有限公司 | Feeding spaced papers support device |
| CN111037596A (en) * | 2019-12-13 | 2020-04-21 | 彩虹（合肥）液晶玻璃有限公司 | Paper taking robot arm, paper taking robot and paper conveying method thereof |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115818250A (en) * | 2022-12-07 | 2023-03-21 | 河北光兴半导体技术有限公司 | Glass feeding system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP5953083B2 (en) | Laminating apparatus and laminating method | |
| JP5724137B2 (en) | Electrode sheet laser cutting device | |
| US20040240980A1 (en) | Loader and unloader for workpiece | |
| JP4222906B2 (en) | Method and apparatus for loading curved glass plate | |
| JP2005262325A (en) | Suction hand and method of following target position by suction hand | |
| CN110071334B (en) | Lamination device and lamination method | |
| CN113911748A (en) | Paper taking device and paper taking method | |
| CN112478841A (en) | Non-magnetic thin plate separating robot clamp and separating method | |
| CN115783809A (en) | Cache conveying equipment and method based on code unstacking | |
| CN115838081A (en) | Device and method for stacking and unstacking | |
| JP2002255582A (en) | Suction transferring device for glazing and glazing device | |
| JP3952448B2 (en) | Method and apparatus for picking up stacked sheets | |
| CN211282862U (en) | Automatic separating device for thin bonding sheet | |
| JPH06255814A (en) | Ceramic green sheet conveying method and manipulator used for the same | |
| JPS6139258B2 (en) | ||
| TWI316505B (en) | Film substrate transport module | |
| JPH085165Y2 (en) | Adsorption and removal device for sheet materials | |
| CN110434575B (en) | Automatic equipment adsorption equipment | |
| CN114772332A (en) | Sheet separating mechanical arm and sheet separating method for stacked metal sheets | |
| CN112677467B (en) | Automatic laminating machine and laminating method thereof | |
| JP7095948B2 (en) | How to take out the tailored blank | |
| TWI791873B (en) | Film take-out device and method for manufacturing flexible printed circuit board | |
| JP2788177B2 (en) | Film transfer equipment | |
| JP2001300879A (en) | General-purpose hand for conveying substrate | |
| JP7238375B2 (en) | Holding mechanism and transportation method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |