CN116477358A - Device and method for separating glass from paper - Google Patents
Device and method for separating glass from paper Download PDFInfo
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- CN116477358A CN116477358A CN202310532737.7A CN202310532737A CN116477358A CN 116477358 A CN116477358 A CN 116477358A CN 202310532737 A CN202310532737 A CN 202310532737A CN 116477358 A CN116477358 A CN 116477358A
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- Prior art keywords
- glass
- separator
- suction
- adsorption
- edge
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- 239000011521 glass Substances 0.000 title claims abstract description 165
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000001179 sorption measurement Methods 0.000 claims abstract description 62
- 238000000926 separation method Methods 0.000 claims abstract description 13
- 230000003068 static effect Effects 0.000 claims description 13
- 238000003825 pressing Methods 0.000 claims description 8
- 238000007664 blowing Methods 0.000 claims description 5
- 230000008030 elimination Effects 0.000 claims description 2
- 238000003379 elimination reaction Methods 0.000 claims description 2
- 238000005192 partition Methods 0.000 abstract description 16
- 239000000758 substrate Substances 0.000 description 8
- 150000002500 ions Chemical class 0.000 description 6
- 230000005611 electricity Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 125000006850 spacer group Chemical group 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
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
- 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
Landscapes
- Sheets, Magazines, And Separation Thereof (AREA)
Abstract
The present disclosure provides an apparatus and method for separating glass and a separator, the apparatus comprising: a first moving part; the glass adsorption assembly is arranged on the first movement part and comprises a first adsorption part and a second adsorption part, wherein the first adsorption part is used for adsorbing one edge of glass, and the second adsorption part is used for adsorbing other areas of the glass except the edge; and a control section configured to: the first adsorption part is controlled to extend and adsorb the glass and then retract, and after the first adsorption part and the second adsorption part retract for a preset time, the first adsorption part and the second adsorption part are controlled to adsorb the glass and the first movement part is controlled to move, so that the glass is separated from the partition paper. The vacuum adsorption device can effectively eliminate vacuum adsorption between the glass and the partition paper, and reduce separation difficulty of the glass and the partition paper.
Description
Technical Field
The disclosure relates to the technical field of glass production, in particular to a device and a method for separating glass from a separator.
Background
In the glass substrate production process, a carrying portion such as an a-frame is often used to carry a number of glass substrates stacked together. In order to prevent adjacent two glass substrates from rubbing or adsorbing together, a spacer is generally added between the two glass substrates. Due to vacuum adsorption, electrostatic adsorption and other reasons, the glass substrate and the partition paper are often adsorbed together, and great trouble is brought to material taking.
There is a conventional method of removing static electricity by blowing ion wind to facilitate removal of a glass substrate or a separator. However, the glass substrate and the separator are still bonded together by vacuum adsorption, resulting in difficulty in taking materials.
Disclosure of Invention
One technical problem to be solved by the present disclosure is: the glass substrate and the separator are bonded together by vacuum adsorption, and are difficult to separate.
To solve the above technical problems, an embodiment of the present disclosure provides a device for separating glass and a separator, including: a first moving part; the glass adsorption assembly is arranged on the first movement part and comprises a first adsorption part and a second adsorption part, wherein the first adsorption part is used for adsorbing one edge of glass, and the second adsorption part is used for adsorbing other areas of the glass except the edge; and a control section configured to: the first adsorption part is controlled to extend and adsorb the glass and then retract, and after the first adsorption part and the second adsorption part retract for a preset time, the first adsorption part and the second adsorption part are controlled to adsorb the glass and the first movement part is controlled to move, so that the glass is separated from the partition paper.
In some embodiments, the glass suction assembly includes a plurality of vacuum cups arranged in a plurality of rows, with an outermost row of vacuum cups comprising a first suction portion and the other rows of vacuum cups comprising a second suction portion.
In some embodiments, the glass suction assembly includes a driving portion connected to the first suction portion, the driving portion driving the first suction portion to extend or retract.
In some embodiments, the device further comprises a pressing portion configured to: the pressing portion is controlled to press the separator in a process from when the first suction portion is to suck the glass until the glass is separated from the separator.
In some embodiments, further comprising: a second moving part; the paper separating fixing assembly is arranged on the second motion part and comprises a paper separating adsorption part and a clamping part; the control section is configured to: after the glass is separated from the separating paper, controlling the separating paper adsorption part to adsorb one edge of the separating paper and controlling the second motion part to move so that the edge of the separating paper is separated from the next glass; after the edge of the separator is separated from the next glass sheet, the holding portion is controlled to protrude and hold the edge of the separator in the thickness direction of the separator, and the second moving portion is controlled to move so that the separator is separated from the next glass sheet.
In some embodiments, the separator suction is controlled to press the separator during a period from when the first suction is about to suction the glass until the glass is separated from the separator.
In some embodiments, the separator suction includes a plurality of vacuum cups arranged in a row.
In some embodiments, the vacuum chuck comprises a support rod and a chuck connected to one end of the support rod, and the paper separating fixing assembly further comprises a driving part connected with the clamping part, wherein the driving part drives the clamping part to extend or retract, and the extending direction of the clamping part is the same as the extending direction of the support rod.
In some embodiments, the first motion portion and the second motion portion are each a manipulator having multiple degrees of freedom.
In some embodiments, a static eliminator for blowing ion wind to the glass and/or the separator is further included.
Embodiments of the present disclosure also provide a method of separating glass and a separator, comprising: so that the first adsorption part adsorbs one edge of the glass and moves a first distance in a direction away from the partition paper; after the preset time, the second adsorption part is further enabled to adsorb other areas except the edge of the glass, and the first adsorption part and the second adsorption part are enabled to move in the direction away from the partition paper, so that the separation of the glass and the partition paper is completed.
In some embodiments, further comprising: causing the separator adsorbing portion to press the separator in a process from when the first adsorbing portion is to adsorb the glass until the glass is separated from the separator; after the glass is separated from the separator, making the separator adsorption part adsorb one edge of the separator and move a second distance in a direction away from the next glass; after the second distance is moved, the clamping part clamps the edge of the partition paper along the thickness direction of the partition paper and moves, so that the partition paper is separated from the next piece of glass.
Through above-mentioned technical scheme, the device of separation glass and separating paper that this disclosure provided can effectively eliminate the vacuum adsorption between glass and the separating paper to reduce the separation degree of difficulty of glass and separating paper.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.
FIG. 1 is a schematic view of an apparatus for separating glass and a separator shown in an exemplary embodiment of the present disclosure;
FIG. 2 is a schematic view of a first motion and glass adsorbing assembly according to an example embodiment of the present disclosure;
fig. 3 is a schematic structural view of a second moving part and a separator fixing assembly shown in an exemplary embodiment of the present disclosure.
Reference numerals illustrate:
10. a first moving part; 20. a glass adsorption assembly; 22. a first adsorption unit; 24. a second adsorption unit; 26. a vacuum chuck; 28. a driving section; 30. a second moving part; 40. a separator fixing assembly; 42. a separator adsorption part; 44. a clamping part; 46. a vacuum chuck; 462. a support rod; 464. a suction cup; 48. a driving section; 50. a static electricity eliminating section; 100. a means for separating the glass from the separator; 201. glass; 203. a paper separator; 205. a bearing part.
Detailed Description
Embodiments of the present disclosure are described in further detail below with reference to the drawings and examples. The following detailed description of the embodiments and the accompanying drawings are provided to illustrate the principles of the disclosure and not to limit the scope of the disclosure, which may be embodied in many different forms and not limited to the specific embodiments disclosed herein, but rather to include all technical solutions falling within the scope of the claims.
The present disclosure provides these embodiments in order to make the present disclosure thorough and complete, and fully convey the scope of the disclosure to those skilled in the art. It should be noted that: the relative arrangement of parts and steps, the composition of materials, numerical expressions and numerical values set forth in these embodiments should be construed as exemplary only and not limiting unless otherwise specifically stated.
In the description of the present disclosure, unless otherwise indicated, the meaning of "plurality" is greater than or equal to two; the terms "upper," "lower," "left," "right," "inner," "outer," and the like indicate an orientation or positional relationship merely for convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the devices or elements being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the present disclosure. When the absolute position of the object to be described is changed, the relative positional relationship may be changed accordingly.
Furthermore, the use of the terms first, second, and the like in this disclosure do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The "vertical" is not strictly vertical but is within the allowable error range. "parallel" is not strictly parallel but is within the tolerance of the error. The word "comprising" or "comprises" and the like means that elements preceding the word encompass the elements recited after the word, and not exclude the possibility of also encompassing other elements.
It should also be noted that, in the description of the present disclosure, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the terms in the present disclosure may be understood as appropriate by those of ordinary skill in the art. When a particular device is described as being located between a first device and a second device, there may or may not be an intervening device between the particular device and either the first device or the second device.
All terms used in the present disclosure have the same meaning as understood by one of ordinary skill in the art to which the present disclosure pertains, unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods, and apparatus should be considered part of the specification.
Referring to fig. 1, a plurality of glass sheets 201 are stacked on a carrying portion 205 with a separator 203 interposed between adjacent glass sheets 201. The carrier 205 is, for example, an a-frame, on which the glass 201 is placed obliquely. In an embodiment of the present invention, the apparatus 100 is utilized to separate the glass 201 from the spacer 203. With reference to fig. 1 and 2, the apparatus 100 includes: a first moving part 10; the glass adsorbing assembly 20 is arranged on the first moving part 10, the glass adsorbing assembly 20 comprises a first adsorbing part 22 and a second adsorbing part 24, the first adsorbing part 22 is used for adsorbing one edge of the glass 201, and the second adsorbing part 24 is used for adsorbing other areas of the glass 201 except the edge; and a control section configured to: the first suction part 22 is controlled to be extended and retracted after sucking the glass 201, and after a predetermined time (for example, 0.5 seconds) is retracted, both the first suction part 22 and the second suction part 24 are controlled to suck the glass 201 and the first moving part 10 is controlled to move so that the glass 201 is separated from the separator 203.
In the embodiment of the present disclosure, the first suction part 22 is extended and retracted after sucking one edge of the glass 201, at this time, the glass 201 is deformed, and the corner is separated from the separator 203, so that the glass 201 and the separator 203 can be easily and effectively separated from each other from the corner, and in a predetermined time after the first suction part 22 sucks the edge to retract, as air is continuously introduced between the glass 201 and the separator 203 from the lifted edge to eliminate vacuum suction, the glass 201 and the separator 203 are gradually separated from the edge to some extent (for example, a small gap may exist between them, and a certain suction force may exist between them). At this time, the second adsorption portion 24 is further controlled to adsorb other regions of the glass 201 except the edge, and the whole glass 201 is relatively firmly connected with the glass adsorbing assembly 20 under the adsorption action of the first adsorption portion 22 and the second adsorption portion 24. Then, the first moving part 10 is controlled to drive the glass adsorption assembly 20 to move, the glass 201 correspondingly moves along with the glass adsorption assembly 20 (moves along the direction away from the separator 203), and after a certain distance, the glass 201 is completely separated from the separator 203, and at the moment, almost no adsorption force exists between the glass 201 and the separator.
Fig. 1 shows that the first suction portion 22 is used to suction the upper edge of the glass 201, although in other embodiments, the first suction portion 22 may be used to suction other edges of the glass 201, such as the lower edge, the left edge, or the right edge. The first suction portion 22 may protrude in a direction perpendicular to a surface to be sucked of the glass 201 and perform suction. The glass suction member 20 can be sent to a position having a proper distance from the surface to be sucked of the glass 201 by the first moving portion 10 before the first suction portion 22 is extended to suction. In the process from when the first suction portion 22 is about to suck the glass 201 until the glass 201 is completely separated from the separator 203, the separator 203 may be pressed by the pressing portion, preventing the separator 203 from following the glass 201 by residual suction (e.g., electrostatic suction). The separator 203 may have a larger size than the glass 201 so as to have a portion beyond the glass 201, which may be pressed with a pressing portion, avoiding that the entire separator 203 changes position following the movement of the glass 201.
In some embodiments, referring to fig. 2, the glass suction assembly 20 includes a plurality of vacuum cups 26 arranged in a plurality of rows, with the outermost row of vacuum cups 26 comprising the first suction portion 22 and the other rows of vacuum cups 26 comprising the second suction portion 24. The plurality of rows of vacuum cups 26 can more firmly hold the entire glass 201. The glass adsorbing assembly 20 may include a mounting portion connected to the first moving portion 10, to which the first and second adsorbing portions 22 and 24 are mounted. The mounting portion may be a planar extension member, such as a plate or frame. For example, as shown in fig. 2, the mounting portion includes an elongated connecting portion extending in a first direction and a plurality of mounting bars extending in a second direction, one ends of the plurality of mounting bars being connected to the elongated connecting portion, the plurality of mounting bars being arranged at intervals in the first direction. The first moving part 10 is connected to an elongated connecting part, and a plurality of vacuum chucks 26 are mounted to a plurality of mounting bars. The vacuum chuck 26 may have a buffer member, such as a spring or the like, to prevent damage to the glass 201 when it contacts it.
In some embodiments, referring to fig. 2, the glass adsorbing assembly 20 includes a driving part 28 connected with the first adsorbing part 22, and the driving part 28 drives the first adsorbing part 22 to extend or retract under the control of the control part. The driving portion 28 may be a cylinder. The drive portion 28 may be mounted to a mounting bar. The expansion and contraction direction of the first suction portion 22 is perpendicular to the first direction and the second direction. When the first suction portion 22 is in the retracted state, the suction surface of the first suction portion 22 and the suction surface of the second suction portion 24 are on the same plane; when the first suction portion 22 is in the extended state, the suction surface of the first suction portion 22 is closer to the glass 201 than the suction surface of the second suction portion 24.
In some embodiments, in conjunction with fig. 1 and 3, the apparatus 100 further comprises: a second moving part 30; a separator fixing unit 40 provided in the second moving part 30, the separator fixing unit 40 including a separator adsorbing part 42 and a clamping part 44; the control section is configured to: after the glass 201 is separated from the separator 203, the separator suction portion 42 is controlled to suction one edge of the separator 203 and the second moving portion 30 is controlled to move so that the edge of the separator 203 is spaced apart from the next glass 201; after the edge of the separator 203 is spaced apart from the next glass 201, the holding portion 44 is controlled to protrude and hold the edge of the separator 203 in the thickness direction of the separator 203, and the second moving portion 30 is controlled to move so that the separator 203 is separated from the next glass 201.
The inventors of the present disclosure have recognized that after separation of the glass 201 from the separator 203 and removal of the glass 201 are completed by the first moving part 10 and the glass adsorbing assembly 20, when the removal of the separator 203 is required, it is hindered by adsorption between the separator 203 and the next piece of glass 201, at which time the separator 203 is easily dropped from the vacuum chuck if separation is performed by adsorbing the separator 203 by the vacuum chuck, so the present disclosure employs the grip part 44 to more firmly separate and remove the separator 203. Since the separator 203 is in contact with the next glass 201, it is difficult for the clamping portion 44 to directly clamp the separator 203, the present disclosure first adsorbs one edge of the separator 203 to separate it from the next glass 201 by the separator adsorption portion 42, and then clamps the edge by the clamping portion 44 to complete separation and removal of the entire separator 203. Before clamping is required, the clamping part 44 is in a retracted state, so that obstruction or collision is prevented; after the edge of the separator 203 is spaced apart from the next glass 201 and has a sufficient operation space, the holding portion 44 is controlled to protrude and hold.
In some embodiments, the control portion is configured to: in the process from when the first suction unit 22 is to suck the glass 201 until the glass 201 is separated from the separator 203, the separator suction unit 42 is controlled to press the separator 203 (for example, to press a portion of the separator 203 beyond the glass 201). Thus, the separator suction portion 42 can be used as the pressing member, and no additional pressing member is required.
In some embodiments, referring to fig. 3, the separator suction 42 includes a plurality of vacuum cups 46 arranged in a row. The vacuum chuck 46 may have a cushioning member, such as a spring or the like. In some embodiments, the vacuum chuck 46 includes a support rod 462 and a chuck 464 connected to one end of the support rod 462, and the separator fixing assembly 40 further includes a driving part 48 connected to the clamping part 44, the driving part 48 driving the clamping part 44 to extend or retract, and the stretching direction of the clamping part 44 is the same as the extending direction of the support rod 462. When the separator 203 is sucked, the support rod 462 is perpendicular to the surface to be sucked of the separator 203, and the expansion and contraction direction of the holding portion 44 is also perpendicular to the surface to be sucked of the separator 203, and when the holding portion 44 is extended, it is adapted to hold the separator 203 in the thickness direction.
The separator fixing assembly 40 may include an elongated mounting portion coupled to the second moving portion 30, on which a plurality of L-shaped brackets arranged in a row are provided, and each of the vacuum chucks 46 is mounted to each of the L-shaped brackets. The driving part 48 is mounted to the elongated mounting part, and the driving part 48 may be a cylinder. The separator fixing assembly 40 may include a triangular connection portion through which the second moving portion 30 is connected with the elongated mounting portion, and the triangular connection portion may provide a proper connection position and better strength.
In some embodiments, the apparatus 100 further includes a static elimination portion 50 for blowing ion wind toward the glass 201 and/or the separator 203. By arranging the static eliminating part 50, static adsorption between the glass 201 and the partition paper 203 can be eliminated to a certain extent, the separation difficulty is further reduced, and meanwhile, the static eliminating part is beneficial to meeting the static prevention requirement of the glass production process and eliminating static ions on the surface of the glass 201. The number of the static electricity eliminating parts 50 may be plural, and referring to fig. 1, the static electricity eliminating parts 50 may be provided at both sides of the carrier part 205 for blowing ion wind to opposite sides of the glass 201 and the separator 203. Referring to fig. 3, the separator fixing assembly 40 may include a static electricity eliminating part 50 (e.g., provided on an elongated mounting part) that may blow ion wind to the front surfaces of the separator 203 and the glass 201.
In some embodiments, the first and second moving parts 10 and 30 are each a robot having a plurality of degrees of freedom, so that the positions and attitudes of the glass adsorbing assembly 20 and the separator fixing assembly 40 can be flexibly adjusted. For example, the first moving part 10 may move the glass adsorbing assembly 20 in a direction approaching or separating from the glass 201, and may turn the glass 201 by 90 degrees after the glass 201 is completely separated from the separator 203 to be sent to the next process. The first moving part 10 and the second moving part 30 may have different moving paths, preventing the two from interfering or colliding with each other.
The present disclosure also proposes a method of separating glass 201 and separator 203, comprising:
so that the first suction portion 22 sucks one edge of the glass 201 and moves a first distance in a direction away from the separator 203;
after a predetermined time has elapsed, the second suction portion 24 is further caused to suck the glass 201 in the other region than the edge, and the first suction portion 22 and the second suction portion 24 are caused to move in a direction away from the separator 203, completing separation of the glass 201 from the separator 203.
In some embodiments, the method further comprises:
causing the separator suction portion 42 to press the separator 203 in the process from when the first suction portion 22 is about to suck the glass 201 until the glass 201 is separated from the separator 203;
after the glass 201 is separated from the separator 203, the separator suction portion 42 is caused to suck one edge of the separator 203 and move a second distance in a direction away from the next glass 201;
after the second distance is moved, the holding portion 44 is made to hold the edge of the separator 203 in the thickness direction of the separator 203 and moved, and separation of the separator 203 from the next glass 201 is completed.
In summary, in the technical scheme of the disclosure, the glass is taken in a manner of separating from the corners, so that the phenomenon that the glass and the partition paper are difficult to separate or are not separated due to vacuum can be reduced; the separation paper is pressed firstly, and the glass is separated, so that the separation process is more stable and reliable; the glass is separated and taken away by utilizing the first moving part and the glass adsorption component, and the partition paper is separated and taken away by utilizing the second moving part and the partition paper fixing component, so that the glass taking and the partition paper taking can be synchronously performed, the waiting time of equipment is reduced, and the efficiency is higher.
Thus, various embodiments of the present disclosure have been described in detail. In order to avoid obscuring the concepts of the present disclosure, some details known in the art are not described. How to implement the solutions disclosed herein will be fully apparent to those skilled in the art from the above description.
Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It will be understood by those skilled in the art that the foregoing embodiments may be modified and equivalents substituted for elements thereof without departing from the scope and spirit of the disclosure. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict.
Claims (10)
1. An apparatus (100) for separating glass (201) from a separator (203), comprising:
a first movement part (10);
a glass adsorption assembly (20) arranged on the first movement part (10), wherein the glass adsorption assembly (20) comprises a first adsorption part (22) and a second adsorption part (24), the first adsorption part (22) is used for adsorbing one edge of the glass (201), and the second adsorption part (24) is used for adsorbing other areas of the glass (201) except the edge; and
a control section configured to: controlling the first adsorption part (22) to extend and adsorb the glass (201) and then retract, and after retracting for a predetermined time, controlling both the first adsorption part (22) and the second adsorption part (24) to adsorb the glass (201) and controlling the first movement part (10) to move so that the glass (201) is separated from the separator (203).
2. The apparatus of claim 1, wherein the glass suction assembly (20) comprises a plurality of vacuum cups (26) arranged in a plurality of rows, an outermost row of the vacuum cups (26) comprising the first suction portion (22) and the other rows of the vacuum cups (26) comprising the second suction portion (24).
3. The apparatus of claim 1, wherein the glass adsorbing assembly (20) comprises a driving portion (28) connected to the first adsorbing portion (22), the driving portion (28) driving the first adsorbing portion (22) to extend or retract; and/or
The device (100) further comprises a pressing portion, the control portion being configured to:
the pressing portion is controlled to press the separator (203) in a process from when the first suction portion (22) is about to suck the glass (201) until the glass (201) is separated from the separator (203).
4. The apparatus as recited in claim 1, further comprising:
a second movement part (30);
a separator fixing unit (40) provided to the second moving unit (30), the separator fixing unit (40) including a separator adsorbing unit (42) and a clamping unit (44);
the control section is configured to:
after the glass (201) is separated from the separator (203), controlling the separator suction part (42) to suck one edge of the separator (203) and controlling the second movement part (30) to move so that the edge of the separator (203) is separated from the next piece of the glass (201);
after the edge of the separator (203) is separated from the next sheet of glass (201), the holding portion (44) is controlled to protrude and hold the edge of the separator (203) in the thickness direction of the separator (203), and the second moving portion (30) is controlled to move so that the separator (203) is separated from the next sheet of glass (201).
5. The apparatus according to claim 4, wherein the control section is configured to:
the separator suction unit (42) is controlled to press the separator (203) from the time when the first suction unit (22) is about to suction the glass (201) until the glass (201) is separated from the separator (203).
6. The apparatus of claim 4, wherein the separator suction (42) comprises a plurality of vacuum cups (46) arranged in a row.
7. The apparatus of claim 6, wherein the vacuum chuck (46) includes a support rod (462) and a chuck (464) connected to one end of the support rod (462), the separator fixing assembly (40) further includes a driving part (48) connected to the clamping part (44), the driving part (48) drives the clamping part (44) to extend or retract, and a telescopic direction of the clamping part (44) is the same as an extending direction of the support rod (462).
8. The device according to claim 4, characterized in that the first movement (10) and the second movement (30) are each a manipulator with multiple degrees of freedom; and/or
The device (100) further comprises a static elimination section (50) for blowing ion wind to the glass (201) and/or the separator (203).
9. A method of separating glass (201) from a separator (203), comprising:
so that the first adsorption part (22) adsorbs one edge of the glass (201) and moves a first distance in a direction away from the separator (203);
after a predetermined time, the second adsorption part (24) is further caused to adsorb other areas of the glass (201) except the edge, and the first adsorption part (22) and the second adsorption part (24) are caused to move in a direction away from the separator (203), so that separation of the glass (201) from the separator (203) is completed.
10. The method as recited in claim 9, further comprising:
causing a separator suction part (42) to press the separator (203) in a process from when the first suction part (22) is about to suck the glass (201) until the glass (201) is separated from the separator (203);
after the glass (201) is separated from the separator (203), causing the separator suction portion (42) to suck one edge of the separator (203) and move a second distance in a direction away from the next sheet of the glass (201);
after the second distance is moved, the clamping part (44) clamps the edge of the separator (203) along the thickness direction of the separator (203) and moves, so that the separator (203) is separated from the next piece of glass (201).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202310532737.7A CN116477358B (en) | 2023-05-11 | 2023-05-11 | Device and method for separating glass from paper |
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| CN202310532737.7A CN116477358B (en) | 2023-05-11 | 2023-05-11 | Device and method for separating glass from paper |
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| CN116477358A true CN116477358A (en) | 2023-07-25 |
| CN116477358B CN116477358B (en) | 2024-04-02 |
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| CN206108376U (en) * | 2016-09-22 | 2017-04-19 | 苏州宏瑞达新能源装备有限公司 | Photovoltaic glass plate's automatic feeding machine |
| CN107020645A (en) * | 2017-04-10 | 2017-08-08 | 武汉华星光电技术有限公司 | A kind of mechanical arm and its application method |
| CN207698760U (en) * | 2017-11-06 | 2018-08-07 | 中建材凯盛机器人（上海）有限公司 | ITO electropanes upper piece spend paper handgrip |
| CN109533972A (en) * | 2019-01-09 | 2019-03-29 | 旭东机械(昆山)有限公司 | Detection takes the device of piece sticky paper in a kind of glass substrate depacketizing system |
| CN218370473U (en) * | 2021-12-21 | 2023-01-24 | 江苏创源电子有限公司 | PCB paperboard separating device |
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