CN216686681U

CN216686681U - Paper taking auxiliary device and paper taking system comprising same

Info

Publication number: CN216686681U
Application number: CN202122089474.6U
Authority: CN
Inventors: 李青; 李赫然; 刘公毅; 王俊明; 赵玉乐; 王光祥; 赵建生; 王赛; 薛文明
Original assignee: Tunghsu Technology Group Co Ltd; Shanxi Guangxing Photoelectric Technology Co Ltd
Current assignee: Tunghsu Technology Group Co Ltd; Shanxi Guangxing Photoelectric Technology Co Ltd
Priority date: 2021-08-31
Filing date: 2021-08-31
Publication date: 2022-06-07
Anticipated expiration: 2031-08-31

Abstract

The utility model provides a paper taking auxiliary device for lifting up lodging spacer paper, wherein the spacer paper is placed on a spacing piece at intervals, the spacer paper and the spacing piece lean against a bearing platform, and the paper taking auxiliary device comprises a lifting baffle plate, a mechanical arm, a telescopic mechanism and a sliding rail. The first end of the telescopic mechanism is connected with the manipulator, the second end, opposite to the first end, of the telescopic mechanism is connected with the first end of the lifting baffle, and the manipulator is arranged on the sliding rail. The paper taking auxiliary device for lifting the lodging spacer paper can be matched with the paper taking robot to take the paper to the maximum extent, so that the condition of paper taking failure is reduced, and the production efficiency is improved. The utility model also provides a paper taking system comprising the paper taking auxiliary device.

Description

Paper taking auxiliary device and paper taking system comprising same

Technical Field

The utility model relates to the technical field of substrate glass production, in particular to a paper taking auxiliary device for supporting lodging spacer paper and a paper taking system comprising the paper taking auxiliary device.

Background

In the production of liquid crystal glass substrates, the produced glass substrates need to be loaded on an a-frame to be transported to a user or to be reprocessed. The glass substrates placed on the a-frame need to be separated by a spacer paper to avoid direct contact between the glass substrates, sticking together and causing scratches. The spacer paper needs to be higher than a part of the glass substrate so that the paper taking robot can take the glass substrate when the glass substrate is unloaded subsequently. Under the action of gravity of the robot, the spacing paper higher than the glass substrate often falls down, the paper taking mode of the paper taking robot adopts negative vacuum adsorption spacing paper, once the spacing paper falls down, the spacing paper and the paper taking air nozzle cannot be well attached, so that the paper taking robot frequently fails to take the paper, and the production efficiency is seriously affected. Therefore, a paper pickup system for picking up the fallen spacer paper is urgently needed.

SUMMERY OF THE UTILITY MODEL

In view of the defects of the prior art, the utility model aims to provide a paper taking auxiliary device for lifting up fallen spacing paper and a paper taking system comprising the paper taking auxiliary device.

In order to achieve the purpose, the utility model adopts the following technical scheme:

the utility model provides a paper-taking auxiliary device for lifting up fallen spacing paper, wherein the spacing paper is placed on a spacing piece at intervals, the spacing paper and the spacing piece lean on a bearing platform, and the paper-taking auxiliary device comprises:

the lifting baffle is used for lifting the spacing paper to enable the spacing paper to be in an upright state;

the manipulator is used for controlling the lifting baffle to move to a lifting position between the spacing papers;

the telescopic mechanism performs telescopic motion to enable the lifting baffle to perform telescopic motion in the length direction of the lifting baffle; and

the mechanical arm is arranged on the sliding rail, and the sliding rail is used for driving the mechanical arm to move relative to the bearing platform;

the first end of the telescopic mechanism is connected with the manipulator, and the second end of the telescopic mechanism, which is opposite to the first end of the telescopic mechanism, is connected with the first end of the lifting baffle.

Further, a second end of the lift baffle opposite the first end is a tapered end.

Further, a sensor for sensing whether the spacing paper exists is arranged on the lifting baffle.

Further, the uprising baffle is higher than and parallel to the upper surface of the glass substrate at the uprising position.

Further, the telescopic mechanism is a hydraulic telescopic rod comprising a fixed telescopic joint and a plurality of movable telescopic joints, wherein,

a hydraulic cylinder for driving the telescopic mechanism to stretch is arranged in the movable telescopic joint;

the free end of the movable telescopic joint is connected with the manipulator, and the free end of the movable telescopic joint on the outermost side of the movable telescopic joints is connected with the first end of the lifting baffle.

Further, the air conditioner is provided with a fan,

the hydraulic cylinder drives the telescopic mechanism to perform extension movement, so that the lifting baffle plate retracts from the lifting position;

when the hydraulic cylinder drives the telescopic mechanism to retract so that the telescopic mechanism is in a retracted state, the lifting baffle can be located at the position where the lifting baffle extends into the innermost position of the partition paper.

Further, the robot includes:

a first arm, a first end of the first arm being fixedly connected to the slide rail;

a second arm, a first end of the second arm connected to a second end of the first arm opposite the first end of the first arm by a first rotation axis, the second arm rotating relative to the first arm about the first rotation axis for controlling the height of the uplift baffle;

a third arm, a first end of the third arm being connected to a second end of the second arm opposite the first end of the second arm by a second rotation axis, the third arm rotating relative to the second arm about the second rotation axis for controlling a distance of the uplift baffle from the load-bearing platform;

a fourth arm, a first end of the fourth arm connected to a second end of the third arm opposite the first end of the third arm by a third rotation axis, the fourth arm rotating relative to the third arm about the third rotation axis;

the second end of the fourth arm is connected with the first end of the telescopic mechanism, and the axial directions of the first rotating shaft, the second rotating shaft and the third rotating shaft are parallel.

Further, a fifth arm is arranged between the second end of the fourth arm and the first end of the telescopic mechanism, wherein,

a first end of the fifth arm is connected to a first end of the telescoping mechanism;

a second end of the fifth arm, which is opposite to the first end of the fifth arm, is connected to a drive shaft of a first driving member, the fifth arm is driven to rotate by the drive shaft for controlling an angle between the lift-up fence and the spacer paper, and an axial direction of the drive shaft is perpendicular to an axial direction of the third rotating shaft;

the first drive member is connected to the second end of the fourth arm.

Further, a second driving member for driving the second arm to rotate, a third driving member for driving the third arm to rotate, and a fourth driving member for driving the fourth arm to rotate are arranged in the second arm.

The present invention also provides a paper taking system, comprising:

the paper taking auxiliary device for lifting the fallen spacing paper is arranged on the paper taking device; and

and the paper taking robot is used for taking paper when the paper taking auxiliary device lifts up the spacing paper.

Compared with the prior art, the utility model has the beneficial technical effects that:

according to the utility model, by arranging the lifting baffle, the mechanical arm, the telescopic mechanism and the slide rail, the lifting baffle can be moved to the preset lifting position between the spacing papers above the upper surface of the glass substrate, so that the lodging spacing papers are supported, and the paper taking robot can take the papers smoothly. The paper taking auxiliary device for lifting the lodging spacer paper can be matched with the paper taking robot to take the paper to the maximum extent, so that the condition of paper taking failure is reduced, and the production efficiency is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a side view of an A-frame of the present invention with a glass substrate and spacer paper resting on the bottom plate of the A-frame, the A-frame being disposed on a rotary table;

FIG. 2 is a front view of the A-frame of the present invention, the A-frame being disposed on the turntable;

FIG. 3 is a side view of the paper pick-up assist device of the present invention for lifting a lodged spacer paper, wherein the lifting fence, the telescoping mechanism, the robot arm, and the slide rail are in an assembled state;

FIG. 4 is a top view of the connection between the telescoping mechanism and the lift stop of the present invention for a paper pick-up assist device for lifting a fallen spacer paper;

FIG. 5 is a side view of the third arm, the fourth arm, the first driving member and the fifth arm of the paper-taking auxiliary device for lifting the fallen spacer paper of the present invention in a connected state;

FIG. 6 is a schematic structural view of a lifting baffle of the paper-taking auxiliary device for lifting the fallen spacer paper of the utility model;

fig. 7 is a schematic structural diagram of a telescopic mechanism of the paper-taking auxiliary device for lifting the fallen spacing paper.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the following embodiments of the present invention are described in further detail with reference to the accompanying drawings.

The utility model provides a paper taking auxiliary device for lifting up fallen spacer paper, as shown in figures 1-2, spacer paper 1 is placed on a spacer 2 at intervals, and the spacer paper 1 and the spacer 2 lean on a bearing platform 3. In the illustrated embodiment, the spacer 2 is a glass substrate, and the glass substrate and the spacer paper 1 are disposed at intervals. The bearing platform 3 is an A-shaped frame 3, and the A-shaped frame 3 is arranged on the rotating platform 4. As shown in fig. 1, the glass substrate and the spacer paper 1 are placed at intervals and are placed together on the a-frame 3, and the glass substrate and the spacer paper 1 are placed against the bottom plate 20 of the a-frame 3. The spacing paper 1 is set to be higher than the upper surface P of the glass substrate by a certain height so as to be convenient for taking away the glass substrate by a paper taking robot when the glass substrate is unloaded subsequently. Due to the gravity, the portion of the spacer paper 1 higher than the upper surface P of the glass substrate by a certain height may be fallen down, and the farther from the bottom plate 20, the more serious the falling of the spacer paper is.

As shown in fig. 3 and 4, the paper-taking assisting device 100 includes a lifting fence 5, a robot, a telescopic mechanism 6, and a slide rail 7. The first end of the telescopic mechanism 6 is connected to the robot, in the embodiment shown the first end of the telescopic mechanism 6 is connected to the robot via a first connecting block 17. The second end of the telescopic mechanism 6, opposite to its first end, is connected to the first end of the rising blind 5, and in the embodiment shown, the second end of the telescopic mechanism 6 is connected to the first end of the rising blind 5 by means of a second connecting block 15. The rising baffle 5 is used for inserting a rising position between the separation papers 1 and rising the separation papers 1 so as to make them in an upright state. It will be understood by those skilled in the art that the first and second connecting

blocks

17 and 15 function as a connection, which may have different suitable shapes.

As shown in fig. 1 and 3, the manipulator is disposed on a slide rail 7, and the slide rail 7 is used to drive the manipulator and the baffle 5 to move relative to the a-frame 3, specifically, the manipulator can move left and right along the arrow direction shown in fig. 1 on the side of the a-frame 3. The slide rail 7 is driven by a servo motor and is provided with an overload alarm, for example, when abnormal resistance is too large, the alarm is carried out to prevent damage. When the raised baffle 5 is collided or abnormal, the alarm can be given and the operation can be stopped. In addition, the slide rails 7 are disposed at a position that ensures that the rotary table 4 does not interfere with the robot arm when rotating.

As shown in fig. 3 and 5, the robot arm includes a first arm 9, a second arm 11, a third arm 13, and a fourth arm 18. The first end of the first arm 9 is fixedly connected to the slide rail 7. A first end of the second arm 11 is connected to a second end of the first arm 9 opposite to the first end of the first arm 9 via a first rotation shaft 10, and the second arm 11 is rotated relative to the first arm 9 about the first rotation shaft 10 (e.g., rotated in the direction of the double-headed arrow a shown in fig. 3), so that the height of the raised flap 5 can be controlled. A first end of the third arm 13 is connected to a second end of the second arm 11 opposite to the first end of the second arm 11 via a second rotation shaft 12, and the third arm 13 rotates relative to the second arm 11 about the second rotation shaft 12 (e.g., rotates in the direction of the double-headed arrow B shown in fig. 3), so that the distance between the baffle 5 and the a-frame 3 can be controlled. A first end of the fourth arm 18 is connected to a second end of the third arm 13 opposite to the first end of the third arm 13 through the third rotation shaft 14, and the fourth arm 18 rotates relative to the third arm 13 about the third rotation shaft 14 (as rotating in the direction of the double-headed arrow C shown in fig. 5). In a preferred embodiment, a second end of the fourth arm 18 opposite to the first end of the fourth arm 18 is connected with the first end of the telescoping mechanism 6 through a first connecting block 17, the axial directions of the first rotating shaft 10, the second rotating shaft 12 and the third rotating shaft 14 are parallel, and the manipulator can control the height of the lifting baffle 5, the relative position between the lifting baffle 5 and the a-type frame 3 and the distance between the lifting baffle 5 and the glass substrate 2, so that the lifting baffle 5 is parallel to the upper surface P of the glass substrate 2 and can push the spacer paper 1, and the movement of the lifting baffle 5 to a lifting position between the spacer paper 1 is controlled, wherein the lifting position is a position (described in detail below) with a preset distance from the outermost glass substrate 2, and the lifting baffle 5 is higher than the upper surface P of the glass substrate and is parallel to the upper surface P of the glass substrate. As the negative vacuum is adopted to adsorb the partition paper 1, the lifting baffle 5 can be higher than the upper edge of the partition paper 1 or lower than the upper edge of the partition paper 1 in the height direction, so that the paper taking robot is not influenced to take the paper, as long as the lifting baffle 5 can lift the partition paper 1 to be in the vertical state. The glass substrate 2 in contact with the bottom plate 20 of the a-frame 3 is referred to as "innermost glass substrate 2", and the glass substrate 2 on the side opposite to the innermost side is referred to as "outermost glass substrate 2".

It will be understood by those skilled in the art that the second arm 11 is provided with a second driver for driving rotation thereof, the third arm 13 is provided with a third driver for driving rotation thereof, and the fourth arm 18 is provided with a fourth driver for driving rotation thereof. Further, reduction gears are provided in the second arm 11, the third arm 13, and the fourth arm 18, respectively. In some embodiments, the driving member is a servo motor, and the servo motor and the speed reducer may be provided as an integral structure. In a preferred embodiment, a PLC control system can be adopted to control the manipulator and the slide rail 7, so that parameters such as the rotation angle of the lifting baffle 5, the distance from the A-shaped frame 3, the overload alarm current value and the like can be manually set.

In another preferred embodiment, as shown in fig. 3 and 5, a fifth arm 19 is further arranged between the second end of the fourth arm 18 and the first end of the telescopic mechanism 6, the first end of the fifth arm 19 being connected to the first end of the telescopic mechanism 6. A second end of the fifth arm 19, opposite the first end, is connected to a drive shaft (not shown) of the first driver 16, the first driver 16 being connected to a second end of the fourth arm 18. That is, in this embodiment, the first end of the telescopic mechanism 6 is not directly connected to the second end of the fourth arm 18, but is connected to the fourth arm 18 via the fifth arm 19 and the first driver 16. The first driving member 16 can drive the fifth arm 19 to rotate (e.g. according to the direction of the double-headed arrow D shown in fig. 5) through the driving shaft, so that the angle between the lifting baffle 5 and the spacing paper 1 can be controlled, and the angle between the lifting baffle 5 and the spacing paper 1 can be adjusted when the paper taking angle is not proper, so that the spacing paper 1 is in a state favorable for paper taking, and the paper taking robot can take the paper conveniently. In this embodiment, the axial direction of the drive shaft of the first driver 16 is perpendicular to the axial direction of the third rotational shaft 14.

In a preferred embodiment, as shown in fig. 6, the second end of the lifting baffle 5 is a conical end with a conical surface, and the structure is designed to facilitate the lifting baffle 5 to enter the spacer paper 1. Furthermore, the rising baffle 5 is provided with a sensor 8 which senses the presence of the spacer paper 1, in the embodiment shown the sensor 8 being embedded in the side of the rising baffle 5 facing the spacer paper 1. In a preferred embodiment, the lifting baffle 5 is made of stainless steel, and the surface of the lifting baffle is smooth and burr-free, so that the lifting baffle can smoothly enter the partition paper 1 and the partition paper 1 is not damaged.

As shown in fig. 7, the exemplary telescopic mechanism 6 is a hydraulic telescopic rod including a fixed telescopic joint 61 and a plurality of movable telescopic joints (62, 63), for example, a hydraulic cylinder (not shown) is provided in the movable telescopic joint 63 to drive the telescopic mechanism 6 to extend and retract. The telescopic mechanism 6 performs telescopic motion to enable the lifting baffle 5 to perform telescopic motion in the length direction of the lifting baffle. As shown in fig. 3, 4 and 7, in the illustrated embodiment, the fixed telescopic joint 61 is not allowed to perform telescopic motion, and the movable

telescopic joints

62 and 63 are allowed to perform telescopic motion. The free end of the fixed telescopic joint 61 is connected with the first connecting block 17, i.e. the free end of the fixed telescopic joint 61 is connected with the second end of the fourth arm 18 of the manipulator through the first connecting block 17. The free end of the movable telescopic joint 63 at the outermost side is connected with the second connecting block 15, that is, the free end of the movable telescopic joint 63 at the outermost side is connected with the first end of the lifting baffle 5 through the second connecting block 15. Therefore, when the movable

telescopic joints

62 and 63 perform telescopic movement, the lifting baffle 5 is driven to perform corresponding telescopic movement. Due to the fact that the telescoping mechanism 6 is arranged in the reverse direction, if the hydraulic cylinder drives the telescoping mechanism 6 to perform an extending movement, the uplift baffle 5 retracts from the uplifted position. When the hydraulic cylinder drives the telescopic mechanism 6 to perform retraction movement so that the telescopic mechanism is in a retracted state, the lifting baffle 5 is in the innermost position extending into the partition paper 1. Specifically, the glass substrate is placed between the bottom plate 20 of the a-frame 3 and the spacer paper 1, and the bottom plate 20 is in contact with the innermost glass substrate 2. In a preferred embodiment, the outside of the hydraulic telescopic rod is provided with a flexible guard member to prevent grease from contaminating the lifting baffle 5 and thus the spacer paper 1.

The utility model also provides a paper taking system which comprises the paper taking auxiliary device for lifting the laid partition paper and a paper taking robot (not shown), wherein the paper taking robot takes the paper when the paper taking auxiliary device lifts the partition paper, and in a preferred embodiment, the PLC control system can be connected with the paper taking robot in a communication mode so as to obtain the paper taking quantity of the paper taking robot.

The paper taking system for taking the fallen spacing paper comprises the following use steps:

s1: the slide rail 7 moves forwards or backwards or leftwards or rightwards on the side surface of the A-shaped frame 3 to drive the whole paper taking auxiliary device to move, so that the conical end of the lifting baffle 5 is gradually close to the bottom plate 20 of the A-shaped frame 3. The movement in the left-right direction here is a movement in the direction of the arrow in fig. 1, and the movement in the front-rear direction is a movement toward or away from the side of the a-frame 3.

S2: the mechanical arm controls the raising baffle 5 to move to the spacing paper 1 and slightly above the upper surface P of the glass substrate 2, and makes the raising baffle 5 parallel to the upper surface P of the glass substrate 2, so as to ensure that the spacing paper 1 can be pushed in the subsequent steps.

S3: retracting the telescopic mechanism 6 to the fully retracted position and then the manipulator controls the insertion of the lifting fence 5 from the base plate 20 between the base plate 20 and the spacer paper 1.

At this time, the rising baffle 5 extends into the innermost of the spacer paper 1 in the width direction of the spacer paper 1 to ensure that the rising baffle 5 can be in full contact with the edge portion of the spacer paper 1 in the width direction of the spacer paper 1, thereby ensuring that the rising baffle 5 can better support the fallen spacer paper 1.

S4: the slide rail 7 moves rightwards on the side face of the A-shaped frame 3, the lifting baffle 5 is driven to be pushed rightwards to a preset lifting position from the position between the bottom plate 20 and the spacing paper 1 through the spacing paper 1, the lifting baffle 5 is inserted into the lifting position to support the lodging spacing paper 1 to enable the lodging spacing paper to be in an upright state, and at the moment, the paper is taken by matching with an oncoming paper taking robot (not shown).

S5: if the angle of the lifting baffle 5 is not appropriate to be unfavorable for taking out the paper in step S4, the angle between the lifting baffle 5 and the spacing paper 1 can be adjusted by the first driving member 16 of the manipulator to ensure that the spacing paper 1 is in an upright state favorable for taking out the paper, and then the paper is taken out.

S6: when the interval paper 1 in front of the lifting baffle 5 is taken out and the sensor 8 cannot sense the existence of the interval paper 1, the stretching and retracting mechanism 6 retracts the lifting baffle 5 from the interval paper 1, and the position of the lifting baffle 5 is controlled by a mechanical arm to bring the lifting baffle 5 away from the interval paper 1.

S7: the slide rail 7 drives the raised baffle 5 to approach the bottom plate 20 again, and the steps S1-S6 are repeated.

S8: when the glass substrates 2 on the A-shaped frame 3 are not much left (the number of the glass substrates can be set), the lifting baffle 5 is retracted, no action is performed any more, and the paper taking robot is prevented from colliding with the lifting baffle 5 to give an alarm.

In step S8, since the raised barrier 5 has a certain thickness, the paper-fetching program of the paper-fetching robot is preset, when the number of glass substrates 2 is small, the paper-fetching position of the paper-fetching robot is already close to the bottom plate 20, and the thickness of the raised barrier 5 is added, the paper-fetching robot will press the raised barrier 5 against the bottom plate 20 of the a-frame 3 to generate an alarm. And, the spacer paper basically does not fall down when approaching the bottom plate 20, and the bottom plate 20 of the A-shaped frame can serve as the function of the lifting baffle without the aid of the lifting baffle. Therefore, when the glass substrate 2 is reduced to a predetermined number, the operation of the rising baffle 5 is stopped.

It should be understood by those skilled in the art that the spacer paper 1 of the present application has a thickness of about 0.1mm, and the glass substrate 2 has a thickness of about 0.5 mm. Because the partition paper 1 of the bottom plate 20 far away from the A-shaped frame 3 is in a serious lodging state, the lifting baffle 5 is not easy to directly extend into the stack of the partition paper 1 far away from the bottom plate 20 of the A-shaped frame 3, namely is not easy to directly extend into the lifting position between the partition paper 1. However, the spacing paper near the bottom plate 20 of the A-frame 3 is supported by the bottom plate 20 of the A-frame 3, so that the degree of lodging of the spacing paper is not serious, and the spacing paper is less prone to lodging as the spacing paper is closer to the bottom plate 20 of the A-frame 3, and the upright state is favorable for the insertion of the lifting baffle 5 between the bottom plate 20 and the spacing paper from the bottom plate 20. Therefore, the rising baffle 5 is first extended from the bottom plate 20 near the a-frame 3 into between the bottom plate 20 and the spacer paper 1, and then the rising baffle 5 is pushed forward to a preset rising position.

The raised position is a position that is a predetermined distance (for example, 2cm) from the outermost glass substrate 2, and may be preset according to the degree of the fall of the spacer paper and the specific paper-taking state, for example, the more the spacer paper falls, the smaller the predetermined distance is. Assuming that the lifting baffle 5 moves to a position 2cm away from the outermost glass substrate each time, about 30 pieces of spacing paper are arranged in front of the lifting baffle 5, the lifting baffle 5 lifts the spacing paper to be in an upright state, the paper taking robot is matched to take the paper, after the spacing paper is taken, the lifting baffle 5 is drawn out, the slide rail 7 drives the lifting baffle to return to a position close to the bottom plate 20 of the A-shaped frame 3 again, and after the lifting baffle 5 is inserted between the bottom plate 20 and the spacing paper, the lifting baffle 5 moves forwards to a lifting position away from the outermost glass substrate by a preset distance again, and the paper taking process of the wheel is carried out.

It should be particularly noted that the various components or steps in the above embodiments can be mutually intersected, replaced, added or deleted, and therefore, the combination formed by the reasonable permutation and combination conversion shall also belong to the protection scope of the present invention, and the protection scope of the present invention shall not be limited to the embodiments.

The above is an exemplary embodiment of the present disclosure, and the order of disclosure of the above embodiment of the present disclosure is only for description and does not represent the merits of the embodiment. It should be noted that the discussion of any embodiment above is exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, of embodiments of the utility model is limited to those examples, and that various changes and modifications may be made without departing from the scope, as defined in the claims. The functions, steps and/or actions of the method claims in accordance with the disclosed embodiments described herein need not be performed in any particular order. Furthermore, although elements of the disclosed embodiments of the utility model may be described or claimed in the singular, the plural is contemplated unless limitation to the singular is explicitly stated.

Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, of embodiments of the utility model is limited to these examples; within the idea of an embodiment of the utility model, also technical features in the above embodiment or in different embodiments may be combined and there are many other variations of the different aspects of an embodiment of the utility model as described above, which are not provided in detail for the sake of brevity. Therefore, any omissions, modifications, substitutions, improvements, and the like that may be made without departing from the spirit and principles of the embodiments of the present invention are intended to be included within the scope of the embodiments of the present invention.

Claims

1. A paper-pick aid for lifting a lying spacer paper, which is placed at intervals on a spacer, the spacer paper and the spacer resting on a carrying platform, characterized in that the paper-pick aid comprises:

2. The paper-pick aid device for lifting laid spacer paper of claim 1, wherein a second end of the lifting baffle opposite the first end is a tapered end.

3. The paper-taking aid device for lifting the laid spacer paper as claimed in claim 2, wherein the lifting baffle is provided with a sensor for sensing the presence of the spacer paper.

4. The paper-pick aid device for lifting laid spacer paper of claim 1, wherein the lifting baffle is higher than and parallel to the upper surface of the glass substrate at the lifted position.

5. The paper-pickup assisting device for lifting up a fallen partition paper according to claim 1, wherein the telescopic mechanism is a hydraulic telescopic rod including a fixed telescopic joint and a plurality of movable telescopic joints, wherein,

6. The paper-pickup assisting device for lifting laid partition paper according to claim 5,

7. The paper-pick aid device for lifting laid spacer paper of claim 1, wherein the robot arm comprises:

the first end of the first arm is fixedly connected to the sliding rail;

a third arm, a first end of the third arm being connected to a second end of the second arm opposite the first end of the second arm by a second rotation axis, the third arm being rotatable relative to the second arm about the second rotation axis for controlling a distance of the uprighting baffle from the load-bearing platform;

a fourth arm, a first end of the fourth arm being connected to a second end of the third arm opposite to the first end of the third arm by a third rotation axis, the fourth arm rotating relative to the third arm about the third rotation axis;

8. The paper-pick aid device for lifting laid separation paper of claim 7, further comprising a fifth arm disposed between the second end of the fourth arm and the first end of the telescoping mechanism, wherein,

the first drive member is connected to the second end of the fourth arm.

9. The device as claimed in claim 8, wherein the second arm is provided with a second driving member for driving the second arm to rotate, the third arm is provided with a third driving member for driving the third arm to rotate, and the fourth arm is provided with a fourth driving member for driving the fourth arm to rotate.

10. A paper retrieval system, comprising:

the paper-taking aid for lifting laid spacer paper according to any one of claims 1-9; and